My final project is to make a toast robot. The poster for the final explanation is shown below.
1. Preparation
I tackled the basic concept and preparation with this subject. I purchased the necessary parts. I decided to use Arudino UNO instead of ATTiny 45 for ease of debugging for servo motor control. I connected the parts with cardboard and confirmed the movement.
9 V: nickel metal hydride battery, laboratory parts reused
Touch sensor substrate
80 ~ 80: paper phenolic substrate, parts shop: Akizuki densho
1$
Other
Glass
purchased at nearby shops
1$
2. Process parts
The servo bracket was designed using Fusion 360 and outputted with a 3D printer. In order to join the servomotor, it was made to have a shape which also serves as the lid of the case of the servo motor. Bottles to be drunk are made to rotate so that they always face downward even when they move. I designed the head part and the hair in two parts. Easy to assemble by making it into two parts. Like the servo bracket, it outputted with a 3D printer.
In order to drink alcohol, a 30 cc syringe was cut and joined to the head. A vinyl hose with a diameter of 6 mm was connected to the syringe.
The body used the work produced by Week 14: Composites. I cut the back part of the body so that I could store and wire the board. For cutting, an ultrasonic cutter was used.
The board to attach the main body such as servo was processed with acrylic board. The acrylic plate was cut with a laser cutter using a thickness of 5 mm. I also put a logo on the board by laser cutter.
3. Board processing
In order to simplify the connection of the servomotor, a connecting board was manufactured. Seven servo motors can be connected. In addition, the servo motor power supply can be taken separately from the microcomputer board. In addition, a 1M resistor was also connected so that capacitive sensors could be used.
4. Assembling and programming
I assembled each part and programmed Arudino. I checked and adjusted the movement of the completed robot. In order to determine the operating angle of each servomotor, angle was designated and controlled by serial communication.
While looking at the control results, we decided the angle of each operation. At each place where the angle and so on were decided, we executed it and adjusted it so that it became more appropriate motion.
quotation:Electronic construction bulletin,Control of RC servo by serial communication http://denshi.blog.jp/arduino/serial_servo_motor
Many trial and error were necessary to adjust the servo motor operating angle. I recorded motion state.
5. Control from the Web
In order to control from the Web, I decided to use Node.js in JavaScript. quotation:https://nodejs.org/ja/
I also incorporated Sokect.io so that we can control it. The code was incorporated as follows. This time it is executed on the local server, but in the future we plan to be able to control via the external server.