Difference between revisions of "How to build Holonomic Robot"
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== Required Components == | == Required Components == | ||
1) 1/16 in. Aluminum Frames (12 in. length x 24 in. width) for 3 frames | 1) 1/16 in. Aluminum Frames (12 in. length x 24 in. width) for 3 frames | ||
| + | |||
2) Rapberry Pi Zero | 2) Rapberry Pi Zero | ||
| − | + | * OTG usb hub (with atleast 2 ports for wifi dongle, L-CAS Sensor) | |
| − | + | * 3600 mAh portable power bank | |
| − | + | * 8GB MicroSD | |
| + | * Wifi Dongle | ||
| + | |||
4) Arduino Pro Mini (for PWMs) | 4) Arduino Pro Mini (for PWMs) | ||
| + | |||
5) Pololu 200:1 Plastic Gearmotor (https://www.pololu.com/product/1120) | 5) Pololu 200:1 Plastic Gearmotor (https://www.pololu.com/product/1120) | ||
| + | |||
6) Solobotic Gear Mount (https://www.pololu.com/product/601/) | 6) Solobotic Gear Mount (https://www.pololu.com/product/601/) | ||
| + | |||
7) VEX IQ 63mm Omni Wheels (http://www.robotshop.com/en/vex-iq-63mm-omni-wheels-2pk.html) | 7) VEX IQ 63mm Omni Wheels (http://www.robotshop.com/en/vex-iq-63mm-omni-wheels-2pk.html) | ||
| + | |||
8) L298N Motor Controller (http://www.robotshop.com/en/vex-iq-63mm-omni-wheels-2pk.html) | 8) L298N Motor Controller (http://www.robotshop.com/en/vex-iq-63mm-omni-wheels-2pk.html) | ||
| − | 9) 2000 mAh 6V NiMH Battery (with charger) (http://www.amazon.com/Tenergy-2000mAh-Battery-Connector-Aircrafts/dp/B001BCOWLY/ref=sr_1_1?ie=UTF8&qid=1453317372&sr=8-1&keywords=6v+2000mah+nimh+battery) | + | |
| + | 9) 2000 mAh 6V NiMH Battery (with charger) (http://www.amazon.com/Tenergy-2000mAh-Battery-Connector-Aircrafts/dp/B001BCOWLY/ref=sr_1_1?ie=UTF8&qid=1453317372&sr=8-1&keywords=6v+2000mah+nimh+battery) | ||
| + | |||
9) GY-271 Magnetometer | 9) GY-271 Magnetometer | ||
| + | |||
10) L-CAS Ranging Sensor | 10) L-CAS Ranging Sensor | ||
Revision as of 03:25, 12 May 2016
We have used three wheeled Holonomic robots to implement our Trilateration formation keeping method. Here we explain how we have built one from scratch. The robots have 3 Degrees of Freedom (D.O.F), they can move translations X and Y and rotation Z (i.e Yaw).
Required Components
1) 1/16 in. Aluminum Frames (12 in. length x 24 in. width) for 3 frames
2) Rapberry Pi Zero
- OTG usb hub (with atleast 2 ports for wifi dongle, L-CAS Sensor)
- 3600 mAh portable power bank
- 8GB MicroSD
- Wifi Dongle
4) Arduino Pro Mini (for PWMs)
5) Pololu 200:1 Plastic Gearmotor (https://www.pololu.com/product/1120)
6) Solobotic Gear Mount (https://www.pololu.com/product/601/)
7) VEX IQ 63mm Omni Wheels (http://www.robotshop.com/en/vex-iq-63mm-omni-wheels-2pk.html)
8) L298N Motor Controller (http://www.robotshop.com/en/vex-iq-63mm-omni-wheels-2pk.html)
9) 2000 mAh 6V NiMH Battery (with charger) (http://www.amazon.com/Tenergy-2000mAh-Battery-Connector-Aircrafts/dp/B001BCOWLY/ref=sr_1_1?ie=UTF8&qid=1453317372&sr=8-1&keywords=6v+2000mah+nimh+battery)
9) GY-271 Magnetometer
10) L-CAS Ranging Sensor
