Materials/Methods
Materials:
One needs a hand drill to make the holes for the mounts on the top plate of the Mousebot as shown in figure 1 and also for the 3D printed mounts just in case the 3D printer had any errors. A caliper is needed for measuring different components to make accurate 3D models to then help with making of the 3D printed mounts for the components. A bench vice is also required for holding still whatever it is that is being drilled in place. Assorted metal and plastic files are needed for finishing and smoothing out edges on the chassis and the 3D printed mounts. Different sizes of drill bits, depending on the size the bolts, are needed for the mounts and chassis are needed for things mentioned above as well as drilling small holes in the limit switches for putting the wire bumpers on the switches. Also one will need a testing area for when the rover is operational and a jack to hold it off the ground when it is being tested and tweaked. To control the robot, two Arduino Unos are needed for navigation and locomotion. The four brushed drive motors are controlled by two motor controllers that provide the adequate quantity of voltage that is controlled by an Arduino Uno. The motor controllers are powered by one 11.1 Volt 2200 mAh lithium polymer battery. On each of the four brushed-motors, there is a small gearbox that gears down the motors that are then connected to one small tire each.
Two Arduino Uno microcontroller boards, which are powered by one Atmega 328 chip each. One ultrasonic sensor is needed to face down to detect for holes which will prevent the Mousebot from getting stuck in a hole or getting high centered on the edge of the hole. Two bump switches are essential to detect anything that hits them and to tell the Arduino about any rough terrain that may prevent the Mousebot from moving towards the beacon. The 3D design software called ‘Creo 2.0’ is needed. This is used to design the mounts for the ultrasonic and bump sensors that require custom mounts. After the mounts are modeled on the 3D modeling software, it needs to be printed using a 3D printer. We used a ‘Makerbot Replicator 2’ that utilized blue colored plastic filament for the actual fabrication.
Methods:
The first step of the mechanical engineering side of the Mousebot is to find out what problems it may encounter while moving towards the beacon. The first problem is discovering obstructions that may harm the Mousebot. Bump sensors were the only things that make sense to use for that specific purpose. Their design and mounts were made using limit switches. Limit switches are switches that either complete or disconnect an electrical circuit when depressed and then the opposite when released. The mounts for the switches were designed using the 3D modeling software Creo 2.0. They were then 3D printed using the Makerbot Replicator 2. The mounts were then bolted onto the top plate of the Mousebot. The switches were still too small for the Mousebot to actually get any use out of them. Sturdy wire was then used to extend the reach of the switches so they would detect most obstructions in front of the Mousebot. The ultrasonic sensor is used for detecting holes or large rocks, so it needed to face the ground in front of the Mousebot. The mount was designed, printed, and attached in the same fashion as the limit switches had been. The components that are housed inside of the Mousebot was organized so the wires inside of it were neater than they had been before the project started. All of the components could then fit properly into the Mousebot body.
One needs a hand drill to make the holes for the mounts on the top plate of the Mousebot as shown in figure 1 and also for the 3D printed mounts just in case the 3D printer had any errors. A caliper is needed for measuring different components to make accurate 3D models to then help with making of the 3D printed mounts for the components. A bench vice is also required for holding still whatever it is that is being drilled in place. Assorted metal and plastic files are needed for finishing and smoothing out edges on the chassis and the 3D printed mounts. Different sizes of drill bits, depending on the size the bolts, are needed for the mounts and chassis are needed for things mentioned above as well as drilling small holes in the limit switches for putting the wire bumpers on the switches. Also one will need a testing area for when the rover is operational and a jack to hold it off the ground when it is being tested and tweaked. To control the robot, two Arduino Unos are needed for navigation and locomotion. The four brushed drive motors are controlled by two motor controllers that provide the adequate quantity of voltage that is controlled by an Arduino Uno. The motor controllers are powered by one 11.1 Volt 2200 mAh lithium polymer battery. On each of the four brushed-motors, there is a small gearbox that gears down the motors that are then connected to one small tire each.
Two Arduino Uno microcontroller boards, which are powered by one Atmega 328 chip each. One ultrasonic sensor is needed to face down to detect for holes which will prevent the Mousebot from getting stuck in a hole or getting high centered on the edge of the hole. Two bump switches are essential to detect anything that hits them and to tell the Arduino about any rough terrain that may prevent the Mousebot from moving towards the beacon. The 3D design software called ‘Creo 2.0’ is needed. This is used to design the mounts for the ultrasonic and bump sensors that require custom mounts. After the mounts are modeled on the 3D modeling software, it needs to be printed using a 3D printer. We used a ‘Makerbot Replicator 2’ that utilized blue colored plastic filament for the actual fabrication.
Methods:
The first step of the mechanical engineering side of the Mousebot is to find out what problems it may encounter while moving towards the beacon. The first problem is discovering obstructions that may harm the Mousebot. Bump sensors were the only things that make sense to use for that specific purpose. Their design and mounts were made using limit switches. Limit switches are switches that either complete or disconnect an electrical circuit when depressed and then the opposite when released. The mounts for the switches were designed using the 3D modeling software Creo 2.0. They were then 3D printed using the Makerbot Replicator 2. The mounts were then bolted onto the top plate of the Mousebot. The switches were still too small for the Mousebot to actually get any use out of them. Sturdy wire was then used to extend the reach of the switches so they would detect most obstructions in front of the Mousebot. The ultrasonic sensor is used for detecting holes or large rocks, so it needed to face the ground in front of the Mousebot. The mount was designed, printed, and attached in the same fashion as the limit switches had been. The components that are housed inside of the Mousebot was organized so the wires inside of it were neater than they had been before the project started. All of the components could then fit properly into the Mousebot body.