Pi Zero Robot by DarthCoffeeBean

Last crawled date: 3 years ago

NOTE: This is still a work in progress, but the basic design works and there is some web enabled remote control. Some work still to do to make it capable of being autonomous.
I've had an idea to build a robot for a while. I wanted something that can be built upon over time and that can grow in size as I develop it. Ultimately, I want to make it a re-useable platform that can be re-purposed easily.
This is how the robot currently looks in action: https://youtu.be/3RZjhjSIZLE
Still to do:
Improve and print on the battery shelf (Batteries are currently held on with velcro strips).
Design or find an STL for an ultrasonic range finder
Add Raspberry Pi camera or webcam.
Some basic documentation on assembly
The uploaded OBJ file isn't for printing - it's just to show the overall design in one file.
Things you'll need if you want to make one of these:
Raspberry Pi Zero W (or just a zero if you don't want wifi)
PCA9685 16 Channel Servo driver board
Some 2020 Aluminium Profile (alternatively, you can print this).
Some M2.5 standoffs, nuts and bolts.
Some M3, M4 & M5 screws and t-slot nuts (the nuts can be printed).
At least 2 Servo motors (FS5106R or similar will fit).
Batteries:
USB powerbank for the Pi
At least 4xAA for the motors.

For the code, I'm using http://johnny-five.io/ and Node.js.
What you'll need to print:
2 or more servo mounts
1 Pi_Zero_16_PWM_Base
as many wheels as you need
Note that I'm using Lego technic tracks and lego wheels for the idler wheels. You can pick up these fairly cheaply. I know I could have printed treads and idler wheels, but just seemed easier not to re-invent the wheel (sorry), Some links below to help you find these if you need them. For the idler wheels, and M3 bolt fits perfectly through these while allowing them to spin freely.
Treads: https://www.brickowl.com/catalog/lego-caterpillar-track-with-thirty-six-ridges-13972-53992
Idler wheels: https://www.brickowl.com/catalog/lego-wheel-rim-30-x-20-with-no-pinholes-with-reinforced-rim-56145
All design files and code will be on github at https://github.com/stuartmunn/Pi-Zero-Robot
I welcome any suggestions, improvements that you make on this.