Difference between revisions of "How to build Holonomic Robot"

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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)
+
     -> OTG usb hub (with atleast 2 ports for wifi dongle, L-CAS Sensor)
     - 3600 mAh portable power bank
+
     -> 3600 mAh portable power bank
     - 8GB MicroSD
+
     -> 8GB MicroSD
 
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)

Revision as of 02:20, 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

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