Thingiverse
Zippy 2.0: Arduino Nano Balancing Robot by elkayem
by Thingiverse
Last crawled date: 4 years, 2 months ago
Zippy 2.0 is a 3D printed Arduino Nano based balancing robot with a custom PCB.
The frame can be printed in multiple colors by pausing the print at the right height and switching filament. The SketchUp 2017 file is included for design customization. The frame is put together with a few dozen M3x10mm bolts and hex nuts, and four M3 standoffs for the PCB. I printed the frame in PLA with a 0.2mm layer height and 40% infill.
I've also included an optional set of bumpers, which can protect Zippy in the event of a fall. Wrap the bumpers with pipe insulation tubes for a little extra cushion. Yes, the bumpers detract from Zippy's graceful physique, but make Zippy a little more rugged for kids.
The code and circuit design can be found on my GitHub site at:https://github.com/elkayem/ZippyTheBalancingRobot
The PCB is optional, but yields a more compact design than a hand-soldered protoboard. The original prototype version was put together on a breadboard with lots of jumper wires. This is certainly a great way to get started. The STMicroelectronics 8A motor drivers do not come in a convenient package for breadboarding, but ST does provide evaluation boards which work well with a prototype system. The PCB does require some SMD work and an additional outlay for PCB manufacture (I ordered 10 boards from China for less than $2 a board). Even with the fine 0.5 mm pitch, the drivers can be hand soldered to the board (I did!) with a steady hand and patience. There are plenty of YouTube videos on how to do this.
Here are the important parts for Zippy 2.0:
2 x VNH5180A motor drivers
(Optional) Zippy printed circuit board (see Eagle files)
2 x 30:1 Metal Gearmotor 37Dx68L mm with 64 CPR Encoder from Pololu
GY-521 MPU-6050 gyro/accelerometer breakout board
Arduino Nano
ZIPPY (Of course!) Flightmax 3000mAh 3S 20C LiPo battery
16x2 character LCD display
Remote control with PWM receiver
Two Schottky diodes (I used Fairchild SB1245 12A diodes)
Various resistors, capacitors, 10K trimpot, pushbutton, connectors (see schematic)
I've also included a schematic in the Eagle folder. Gerber files are provided in the Eagle folder if ordering from a PCB manufacturer. Otherwise, use a breadboard and wire according to the enclosed schematic.
Pay close attention to polarity on motor wheels (swapping motor leads as necessary) and MPU-6050 orientation. The software assumes the gyro/accelerometer is mounted with the +X axis facing the front of the robot.
Depending on your robot inertia, the PID gains may need to be retuned. Increase as needed to achieve crisp response without any oscillation.
Check out Zippy 2.0 in action: https://youtu.be/0io5SwitLzY
The frame can be printed in multiple colors by pausing the print at the right height and switching filament. The SketchUp 2017 file is included for design customization. The frame is put together with a few dozen M3x10mm bolts and hex nuts, and four M3 standoffs for the PCB. I printed the frame in PLA with a 0.2mm layer height and 40% infill.
I've also included an optional set of bumpers, which can protect Zippy in the event of a fall. Wrap the bumpers with pipe insulation tubes for a little extra cushion. Yes, the bumpers detract from Zippy's graceful physique, but make Zippy a little more rugged for kids.
The code and circuit design can be found on my GitHub site at:https://github.com/elkayem/ZippyTheBalancingRobot
The PCB is optional, but yields a more compact design than a hand-soldered protoboard. The original prototype version was put together on a breadboard with lots of jumper wires. This is certainly a great way to get started. The STMicroelectronics 8A motor drivers do not come in a convenient package for breadboarding, but ST does provide evaluation boards which work well with a prototype system. The PCB does require some SMD work and an additional outlay for PCB manufacture (I ordered 10 boards from China for less than $2 a board). Even with the fine 0.5 mm pitch, the drivers can be hand soldered to the board (I did!) with a steady hand and patience. There are plenty of YouTube videos on how to do this.
Here are the important parts for Zippy 2.0:
2 x VNH5180A motor drivers
(Optional) Zippy printed circuit board (see Eagle files)
2 x 30:1 Metal Gearmotor 37Dx68L mm with 64 CPR Encoder from Pololu
GY-521 MPU-6050 gyro/accelerometer breakout board
Arduino Nano
ZIPPY (Of course!) Flightmax 3000mAh 3S 20C LiPo battery
16x2 character LCD display
Remote control with PWM receiver
Two Schottky diodes (I used Fairchild SB1245 12A diodes)
Various resistors, capacitors, 10K trimpot, pushbutton, connectors (see schematic)
I've also included a schematic in the Eagle folder. Gerber files are provided in the Eagle folder if ordering from a PCB manufacturer. Otherwise, use a breadboard and wire according to the enclosed schematic.
Pay close attention to polarity on motor wheels (swapping motor leads as necessary) and MPU-6050 orientation. The software assumes the gyro/accelerometer is mounted with the +X axis facing the front of the robot.
Depending on your robot inertia, the PID gains may need to be retuned. Increase as needed to achieve crisp response without any oscillation.
Check out Zippy 2.0 in action: https://youtu.be/0io5SwitLzY