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Project Overview
Project Overview
The project aims to build a intelligent embedded mechatronic robot system which can track the trajectory on the ground and avoid obstacles automatically. We successfully designed such a robot that has the following features:
- 100% self-designed mechanical structure
- PID feedback motion control
- Equipped with multiple sensors: infrared sensor array, Electro-Optical ToF sensors, camera and IMU
- Remote control through WiFi and Bluetooth connection with self-built PC terminal
Mission Video
Mission Video
Mechanical Design
Mechanical Design
Body structure
Body structure
After gathering the size parameter of motor and sensors, the chassis and all holders are designed with reliability, accuracy, and flexibility.
Manipulator
Manipulator
The manipulator adopted the principle of four-bar linkage to ensure the horizontal pose of the end effector. Moreover, the folding pattern of this four-bar linkage is suitable for the robot's overall spatial configuration. All parts are manufactured by 3D printing.
Electronic Components
Electronic Components
- Micro-computer center: STM32F103VE
- Motor: DC gear motor with encoder
- Bluetooth: HC-06 Bluetooth Module
- Range finder: GY-53 ToF Module, transmitting data by serial port
- Path tracker: YL-40 infrared sensor array
- IMU: GY-801 9-axis Module
Final Integration
Final Integration
The assembly and wiring is complex. Considering the safety of power distribution and efficiency of signal transmitting, there were totally 150+ wires connected among different targets.
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