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Mecanum robotics platform for the Raspberry pi

by destos, published

Mecanum robotics platform for the Raspberry pi by destos May 6, 2013

Description

I've been working on this mecanum drive platform for the past couple months. Currently I'm using it with my raspberry pi as a remote controllable mecanum platform but that will change once I add some sensors to it.

##Video of the platform driving around:
youtube.com/watch?v=DRAkcRtQzG0

###Code related to the project can be found on my github account:
github.com/destos/mecanum-drive/
github.com/destos/Adafruit-PWM-Servo-Driver-helpers

Please let me know if you are building one and need any help.

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Instructions

#BOM
## general
* raspberry pi
* mini breakout bread board, with pi cobbler
* adafruit.com/products/914
* adafruit.com/products/942 may work as well, haven't checked its size.
* 4x Continuous servos adafruit.com/products/154
* adafruit pwm controller adafruit.com/products/815

## power system
* Mini DC/DC Step-Down Converter adafruit.com/products/1065
* 2x lithium polymer batteries adafruit.com/products/328
* JST female connectors
* a [LiPoly charger](http://www.adafruit.com/index.php?main_page=adasearch&q=lipoly+charger)

##mecanum roller and hub hardware
* 28x R3-2RS bearings vxb.com/page/bearings/PROD/kit715 thebigbearingstore.com/servlet/the-996/R3-dsh-2RS-R3-dsh-ZZ-Radial-Ball/Detail
* 56x 3/16" ID washers
* 28x Socket cap screws 10-24 Thread, 7/8" Length, McMaster #91251A246
* 28x Lock nut, Hex Locknut, 10-24 Thread Size, McMaster #90631A011
* 4x round servo arms, ( mine were laying around and came with other R/C servos, will try to find a source for this )
* 1 can on spray on Plasti Dip ( for a higher friction on the rollers )

#Instructions
* print 28 of ```mecanum_wheel_nut.STL``` and 28 of ```mecanum_wheel_bolt.STL```, I'll be calling these rollers from here on out.
* can be printed in ABS or PLA
* I had to print about 14 at a time, as I had a higher failure rate due to plastic shrinkage when printing many.
* Print with at least one shell, as the external and internal surfaces should be rigid, especially on the nut version ( to prevent the nut from slipping )
* print 2 of ```mecanum_base_v3_flipped.STL``` and 2 of ```mecanum_base_v3.STL```, these will be our "hubs".
* more instructions soon!
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