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"Neurobot 1" - Arduino, Raspberry Pi, Linux and ROS educational robotics kit

by NikolayGrigoryev, published

"Neurobot 1" - Arduino, Raspberry Pi, Linux and ROS educational robotics kit by NikolayGrigoryev Feb 29, 2016
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Hello world! :)

My name is Nick Grigoryev, I am a professional engineer, and I love to make robots.

I created this constructor kit to let children to learn coding of Arduino, Linux ROS (Robot Operating System, created by genius guys from Willow Garage) to prepare the engineers of tomorrow.

They can learn neural networks algorithms of ROS, which is running on newest powerful Linux computer "Raspberry Pi 3" from www.raspberrypi.org

The idea behind this kit is that A) it should be fully functional robot with the all same main capabilities as all those deployed in industry today, B) it should have so affordable price, that really any kid can make it, and C) if the kid does not have enough parts to build something, he or she can download and 3D-print them. Or design some unique parts which are not currently in the kit, and then 3D-print them.

I will keep this kit to be updated. All the hardware and software used is open-source (my design, Arduino, Linux, ROS) and all software is free.

It runs Linux Ubuntu 14.04.4 for ARM from here: https://wiki.ubuntu.com/ARM/RaspberryPi
It runs ROS from here: http://wiki.ros.org/indigo/Installation/UbuntuARM

If you want to buy this kit from me, write to my email below.

Please if you will design additional parts, sent them to me to [email protected], and I will load them here as well, to let everybody to download the full kit. Also please send me any questions or suggestions you may have during the assembly of this robot, I will help you to solve them.

To see what is ROS, please google http://www.ros.org/ and https://www.google.com/webhp?sourceid=chrome-instant&ion=1&espv=2&ie=UTF-8#q=nasa.gov:+robonaut+2&tbm=vid
And please, dig deeper for best universities robotics courses on http://wiki.ros.org/ROS/Tutorials
Do you know that ROS-Industrial is supported by Kuka, Fanuc, ABB, UR and many others? Check out http://rosindustrial.org/news/

The main design pattern is: 7 mm holes, 15.5 mm between the centers of holes, width of the line is 28 mm, thickness of the element is 6 mm. Everything else - how you will do it :)

The nut (file "Knob") is specially designed so big, that small children cannot swallow it, can tighten it without the wrench, and tolerance is such, that they cannot take the nut out. You will need to hammer in it the steel nut 1/4" (6 mm) size.

All the bolts and nuts you can buy for ~5$ for 100 pieces in any hardware store, it uses 1/4"-20 (6 mm) thread and 6-32 thread. All servo holders are designed for standard size Hitec servos, and use 6-32 bolts and nuts, 1-1/4" length.

Important thing: use only original Arduino from official distributors (I used latest Arduino Mega 2560 from www.element14.com because it can handle a lot of servos and sensors). Chineese Arduino clones have not the latest processors and components, I have tried those, they cannot handle the current for the signals 5V to 9 servos, sensors and LEDs simultaneously, so they reload every several seconds.

Arduino screen is this one: http://www.amazon.com/gp/product/B00ESYLLHA?psc=1&redirect=true&ref_=oh_aui_detailpage_o06_s01

Beautiful Adafruit Raspberry Pi screen is this one: http://www.amazon.com/gp/product/B017PDWNKE?psc=1&redirect=true&ref_=oh_aui_detailpage_o05_s00

GPS sensor with antenna from Adafruit:

Tires are from here: http://www.amazon.com/gp/product/B00W10IJEG?psc=1&redirect=true&ref_=oh_aui_detailpage_o08_s01

Power supply for servos, Arduino and Raspberry Pi are these, I use 3 of them, two in parallel for 6V servos, and one for 5V Raspberry Pi supply: http://www.amazon.com/gp/product/B008ZNWOYY?psc=1&redirect=true&ref_=oh_aui_detailpage_o06_s00

Battery is this, 4000 mAh x 3S: http://www.amazon.com/gp/product/B00WLG0358?psc=1&redirect=true&ref_=oh_aui_detailpage_o09_s00

Threaded rods are these ones: http://www.amazon.com/gp/product/B00YWCRJU6?psc=1&redirect=true&ref_=oh_aui_detailpage_o05_s00

Raspberry Pi kit with Wi-Fi and camera: http://www.amazon.com/gp/product/B00UGBI91U?psc=1&redirect=true&ref_=oh_aui_detailpage_o00_s00, or you can use the latest one: https://www.element14.com/community/community/raspberry-pi?ICID=hp-raspberrypi3-topbanner

Arduino Mega servo shield: http://www.amazon.com/gp/product/B007PABRNM?psc=1&redirect=true&ref_=oh_aui_detailpage_o07_s00

Three servos Hitec 32645S HS-645MG for hand and gripper: http://www.amazon.com/gp/product/B003T6RSVQ?psc=1&redirect=true&ref_=oh_aui_detailpage_o05_s00

I used servos Hitec HS-311 for wheels, and easily modified them for continuous rotation. You can use them as well, they are 8 USD per servo: https://www.servocity.com/html/hs-311_standard.html, or you can use more strong ones, with dual ball bearings and metal gears. I used HS-311 because thought that 8 USD is the right price for a kid to begin learning robotics. But if your budget is not so tight, you can use Hitec 1425CR continuous rotation servo with dual ball bearings, 20 USD each, it works better.

Two distance sensors, front and back: http://www.amazon.com/gp/product/B00IMOSEJA?psc=1&redirect=true&ref_=oh_aui_detailpage_o00_s00

LEDs: http://www.amazon.com/gp/product/B004UMA60S?psc=1&redirect=true&ref_=oh_aui_detailpage_o03_s00 (red for back) and http://www.amazon.com/gp/product/B0059H5ZHM?psc=1&redirect=true&ref_=oh_aui_detailpage_o03_s00 for front lamps, and 7x9 cm PCBs to mount them in a hexagonal rows: http://www.amazon.com/dp/B012YZ2Q0U/ref=twister_B012YZ2PYC?_encoding=UTF8&psc=1

On-off toggle switches, 2 pieces, one for Arduino shutdown, one for Raspberry Pi shutdown: http://www.amazon.com/Toggle-ON-OFF-Switch-spade-terminals/dp/B014BVWHW2?ie=UTF8&psc=1&redirect=true&ref_=oh_aui_detailpage_o07_s00

If you want, you can add radio control:

Enjoy, I hope you will like it! :)
[email protected]
(C) Designed in California

List of references:

  1. Arduino creators website: www.arduino.cc
  2. Raspberry Pi creators website: www.raspberrypi.org
  3. Very good Arduino lessons from Paul McWhorter: http://www.toptechboy.com/arduino-lessons/
  4. Very good Raspberry Pi Linux lessons from Paul McWhorter: http://www.toptechboy.com/raspberry-pi-with-linux-lessons/
  5. ROS main website: www.ros.org
  6. ROS Tutorial 1 "TurtleBot in Gazebo Simulator" by Justin Huang: https://youtu.be/9U6GDonGFHw
  7. ROS Tutorial 2 "Subscribers & Publishers" by Justin Huang:
  8. Erle Robotics rover ROS Gazebo simulation: http://erlerobotics.com/docs/Simulation/Vehicles/Erle-Rover/Tutorial_1_Launching_Erle-Rover.html
  9. Original "SLAM for dummies" by Søren Riisgaard and Morten Rufus Blas: http://ocw.mit.edu/courses/aeronautics-and-astronautics/16-412j-cognitive-robotics-spring-2005/projects/1aslam_blas_repo.pdf
  10. Color wheel for choosing the colors: http://graf1x.com/wp-content/uploads/2014/09/color-wheel-poster.jpg
  11. My Lesson 1 from "Robotics Essentials" presentation: https://docs.google.com/presentation/d/1acJxJANH-XrklamFbuHPzUYxeqTloqVMZhQViu6X5P8/edit?usp=sharing
  12. "ROS by example, INDIGO" by Patrick Goebel:
  13. Artificial Intelligence for Self-Driving Cars by Sebastian Thrun, free Python Robotics Course:
  14. Very cool lessons for OpenCV from Kyle Hounslow:
  15. "Gentle introduction to ROS" by Jason M. O’Kane:

Print Settings

Printer Brand:

Robo 3D


R1 ABS + PLA Model






0.2 mm


Just usual support, without "Support everywhere"


I use thin aluminum sheet clipped down to my bed of Robo3D printer.
I apply double layer of Aquanet "Soper-Strong Hold" hairspray: apply first, let it dry on the hot bed, apply second. Then clip the aluminum sheet with 8 paper clips down to the bed, and print. After print, I unclip the aluminum sheet, bend it a little bit, and all parts easily pop off. Then I wash all parts in warm water, to remove hairspray layer from them.
Top and bottom layers: 6 counts, 1.2 mm
Extrusion multiplier: 1.03
I use only green, red and yellow Hatchbox PLA, D = 1.75 mm to print my parts.
You can use any other colors: blue with yellow, orange with green, blue with white etc (please see the reference "Color Wheel" above, to choose the colors you like).
I recommend to use only Hatchbox PLA or Taulman Nylon 910, because it is so much easier to print than ABS! It does not shrink, does not peel off from the bed, sticks easy, flows easy and accurately, gives shiny glossy finish when done. Nylon 910 will give you a bit flexible parts. I never use ABS in my prints.
I print all parts with 2 perimeters layers, 30% infill (except "Knob"). "Knob" I print with 40% infill. Infill type - triangles, they hold the shape very well.


Wash the parts in warm water to remove hairspray.
Then remove the supports, assemble and have fun!

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Does it work also for 40 years children ? ;)

Indeed :)
I am myself 37, almost the same.


Hi Can you give the wiring shema for it,Thanks

Could you summarize the differences between your 3 versions? I can't decide which one to build!

Neurobot 1: Big and complex, full set of functions, including Raspberry Pi 3 and Arduino Mega programming and a gripper to grasp objects.
Neurobot 2: Simpliest and cheapest to build, running on Arduino Uno, RC-controlled.
Neurobot 3: Medium version, autonomous robot with scanning radars, running only Arduino.

Could you make a video so we can see them in action?

I have one video here: https://www.instagram.com/nick3ds/
It is a bit old, but you can see the movement of the hand.

The wheels that appear on the photos - I cannot see an STL model of them. Did you forget to make them available?

There are Wheel.skp and Wheel.stl in the set of files. I did not forget. :)

Sorry - I did not mean the wheels, I mean the tires.

Mar 6, 2016 - Modified Mar 6, 2016
NikolayGrigoryev - in reply to Patola

I bought tires from here:
I believe, this is a standard tires for 1/10 size offroad RC truck, so probably you can buy any other of this size. There are many other options with different look and protector pattern.

If the ones you will buy will not perfectly fit, you can always easily modify the Sketchup file "Wheel.skp".

Thanks. That's nice but I do not live in the US and shipping + taxes to Brazil would increase the price fivefold. Even here these tires cost a small fortune. So maybe it would be a good idea to use printable tires? Flexible filament is more popular now than ever, and there are a few good project here in thingiverse that provide them, e.g. http://www.thingiverse.com/thing:526969 and http://www.thingiverse.com/thing:964789 - which ones do you think would fit? What are the inner and outer diameters and the thickness needed for proper function of your design?

Set of wheels for OpenRC Truggy
by Palmiga
2nd Set of wheels for OpenRC Truggy (1:10 RC cars)
by Palmiga
Mar 7, 2016 - Modified Mar 7, 2016
NikolayGrigoryev - in reply to Patola

Patola, you know, if you really want to print the wheels, I suggest you to print Mecanum omni-wheels, they will work probably better than rubber ones: http://www.thingiverse.com/search/page:1?q=mecanum&sa=
(sometimes links don't work well, so just type "Mecanum" in the search box).

Outer diameter 95 mm, inner diameter 48.5 mm, thickness 37 mm - I directly measured the rubber tire. But I think other dimensions will also work - it is so easy to modify the wheel in Sketchup for thickness, for example... for outer diameter does not matter at all, for inner one will be a little tricky, but not a big deal as well.