Create a walking robot
After active studies at the university: lab, coursework, exams - in the summer I feel like breaking something to do such interesting things, stretching my brains, please myself.
So this time it wasn’t enough - I decided to make some cool robot. All kinds of cars I already tired of, to multi-rotor systems, I was not old enough. I decided to make a humanoid :) The humanoid did not work ...
But, of course, I got excited with the idea, I remembered the children's views of the Terminator and the Star Warrior, and began work.
And that's what happened:
')
In the post I will describe the process of creating this thing, nicknamed Timmy (sometimes I call him Lame Vasya - at the end it will be clear why in the video)
I will keep the description in the form in which it all came up. Immediately make a reservation, I didn’t resort to any additional sources and examples, did everything and came up with it myself, so to speak ... why reinvent the wheel? and to learn how to invent it!
So, I decided to use servos as the “muscles”, and ordered 8 TowerPro microoservs , I still had 2 Fliec microoservs , but I liked them less because they heat up a lot (in the picture on the head, the radiator is on that serv).
In the meantime, servos were going, I decided to make brains. There was only one microcontroller Atmega168 and, as it seemed to me, it would be enough.
Quickly painted tracks for LUT:
Sorry, not special in design. He made the pay as a LUT, tinned him with the Rose alloy, drilled holes, soldered everything, and this is what happened:
(I’m not going to ask for the quality of the photo, I still don’t forgive, but I can justify it - it’s dark at home and I don’t know how to take a picture)
Bright LED - a health alert, blue can be connected to any pin and hang on it the task of indicating something. The squeaker can also connect to any pin.
For power supply, a simple LM7805 is used , I did not find pulse converters at hand. Here a small radiator is bolted to it, since the currents flow quite serious from several serv and it heats up quite well.
So, the serfs came, the “brains” are ready (true, sawdust in the head) ... it’s time to think about how and what to make the skeleton ... a material called Polycaprolactone came to the rescue . This is a medical plastic, biodegradable, harmless, with a melting point of about 60 degrees. Melted - and lepi hands :) The only negative - the product should not be heated to 50-60 degrees, and at first I was afraid that the servos would play a cruel joke with me. But it turned out that they fear, as they basked only after 10 minutes of active work and then up to 40 degrees.
In my head I drew myself an approximate scheme of the skeleton and decided to solve problems as they come.
Having melted polymorph submerged in water in the microwave, crushed from it a sheet between two pieces of glass. Then he cut into pieces, bent and soldered parts with a blowtorch. So it all happened. Simply and easily. The extra trim can be re-melted again and again - waste-free production.
Then he fixed the board and the range finder with the microphone also on the servomotor.
After all these adventures it's time to program. I wrote the program in assembler. The result of the program - the movement can be set as a matrix
where one line sets the angles for each of 8 servomotors, 0x16 - 0 degrees, 0x56 - 180 degrees . Strings are changed by interrupting the 16-bit timer. If you need to control the speed of movement - you need to reduce the coefficient of the prescaler and increase the number of rows of the matrix. But I still have quantization for half a second and it jerks like crazy every half second.
Here is an example of how these two strings work with quantization in half a second. Only two lines and Vasya is already lame!
Next, we will learn to walk normally, start using sensors and send in the past to save John Connor! As soon as we walk normally, post the video.
So this time it wasn’t enough - I decided to make some cool robot. All kinds of cars I already tired of, to multi-rotor systems, I was not old enough. I decided to make a humanoid :) The humanoid did not work ...
But, of course, I got excited with the idea, I remembered the children's views of the Terminator and the Star Warrior, and began work.
And that's what happened:
')
In the post I will describe the process of creating this thing, nicknamed Timmy (sometimes I call him Lame Vasya - at the end it will be clear why in the video)
I will keep the description in the form in which it all came up. Immediately make a reservation, I didn’t resort to any additional sources and examples, did everything and came up with it myself, so to speak ... why reinvent the wheel? and to learn how to invent it!
So, I decided to use servos as the “muscles”, and ordered 8 TowerPro microoservs , I still had 2 Fliec microoservs , but I liked them less because they heat up a lot (in the picture on the head, the radiator is on that serv).
In the meantime, servos were going, I decided to make brains. There was only one microcontroller Atmega168 and, as it seemed to me, it would be enough.
Quickly painted tracks for LUT:
Sorry, not special in design. He made the pay as a LUT, tinned him with the Rose alloy, drilled holes, soldered everything, and this is what happened:
(I’m not going to ask for the quality of the photo, I still don’t forgive, but I can justify it - it’s dark at home and I don’t know how to take a picture)
Bright LED - a health alert, blue can be connected to any pin and hang on it the task of indicating something. The squeaker can also connect to any pin.
For power supply, a simple LM7805 is used , I did not find pulse converters at hand. Here a small radiator is bolted to it, since the currents flow quite serious from several serv and it heats up quite well.
So, the serfs came, the “brains” are ready (true, sawdust in the head) ... it’s time to think about how and what to make the skeleton ... a material called Polycaprolactone came to the rescue . This is a medical plastic, biodegradable, harmless, with a melting point of about 60 degrees. Melted - and lepi hands :) The only negative - the product should not be heated to 50-60 degrees, and at first I was afraid that the servos would play a cruel joke with me. But it turned out that they fear, as they basked only after 10 minutes of active work and then up to 40 degrees.
In my head I drew myself an approximate scheme of the skeleton and decided to solve problems as they come.
Having melted polymorph submerged in water in the microwave, crushed from it a sheet between two pieces of glass. Then he cut into pieces, bent and soldered parts with a blowtorch. So it all happened. Simply and easily. The extra trim can be re-melted again and again - waste-free production.
Then he fixed the board and the range finder with the microphone also on the servomotor.
After all these adventures it's time to program. I wrote the program in assembler. The result of the program - the movement can be set as a matrix
act: .db 0x3c,0x2a,0x3c, 0x2e,0x42,0x30, 0x36,0x36 ;1 .db 0x3e,0x24,0x42, 0x20,0x40,0x39, 0x36,0x36 ;2 .db 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00 ; where one line sets the angles for each of 8 servomotors, 0x16 - 0 degrees, 0x56 - 180 degrees . Strings are changed by interrupting the 16-bit timer. If you need to control the speed of movement - you need to reduce the coefficient of the prescaler and increase the number of rows of the matrix. But I still have quantization for half a second and it jerks like crazy every half second.
Here is an example of how these two strings work with quantization in half a second. Only two lines and Vasya is already lame!
Next, we will learn to walk normally, start using sensors and send in the past to save John Connor! As soon as we walk normally, post the video.
Source: https://habr.com/ru/post/149401/
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