B-robot EVO (the evolved Self balancing robot)
by jjrobots, published
- Print Settings
- How I Designed This
- Overview and Background
- Lesson Plan and Activity
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THIS IS AN OLD VERSION OF THE B-ROBOT, for the new one go to: B-robot EVO 2
Faster, more stable and customizable (and easier to set up -less bolts and nuts...-)
Now with battle arms to fight another robots (or stand up when you fall).
Remotely controlled using your smartphone or tablet (WIFI).
This robot is the natural evolution of the B-robot (http://www.thingiverse.com/thing:700637)
and uses the same electronics you would need to create the remotely controlled laser pointer (and other upcoming robots!): http://www.thingiverse.com/thing:1017965
B-robot EVO is an Arduino based robot. It is Open software and hardware. You can easily modify its behaviour changing the acceleration/speed/stability parameters in the Arduino CODE. Some cool ideas and MODs in the B-robot forum:
- Now can use regular AA batteries (or a 3 cells LIPO battery)
- two SERVO outputs (one used for the ARM)
- Easier to print and using less plastic
- FUN MODE activated from your smartphone/Tablet (increased agility and velocity)
- Increased WIFI range (up to 40 meters)
What you need to print:
· 2x Lateral
· Servo holder
· Top Shelf
· Motor Shelf
· Electronics Shelf
· 2x Bumper
20% is enough
PLA is working perfectly.
Shell thickness=0.8 mm
How I Designed This
This robot uses:
- two stepper motors
- MPU 6050 (gyro+accelerometeres)
- ESP12 WIFI module
You can make your own control board and upload the Arduino CODE available here: https://github.com/jjrobots/B-ROBOT/
or buy the COMPLETE KIT (with or without plastic parts) here:
If you like the JJrobots, take a look to the...THE MOST AWESOME ROBOTICS KIT
JJrobots Google PLAY remote control APP
Now available! The JJrobots FREE APP to control your Brobot EVO (android devices).
Download it from:https://play.google.com/store/apps/details?id=jjrobots.jjrobots_002
iBoardbot: an OPEN SOURCE internet remotely controlled drawing robot created with the same elements (and electronics) used in the B-robots
Take a look to the iBoardbot:
CREATE DIFFERENT ROBOTS USING THE SAME ELECTRONICS AND ANCILLARY ELEMENTS WITH THE MOST AWESOME ROBOTICS KIT
Overview and Background
What is it? How does it work?
B-ROBOT is a remotely controlled self balancing arduino robot created with 3D printed parts. With only two wheels, B-ROBOT is able to maintain its balance all the time by using his internal sensors and driving the motors. You can control your Robot, making him move or spin, by sending commands via a Smartphone, Tablet or PC while it maintains its balance.
This self balancing robot reads his inertial sensors (accelerometers and gyroscopes integrated on the MPU6000 chip) 200 times per second. He calculates his attitude (angle with respect to the horizon) and compares this angle with the target angle (0º if he wants to maintain balance without moving, or a positive or negative angle if he wants to move forward or backwards). Using the difference between the target angle (let’s say 0º) and actual angle (let’s say 3º) he drives a Control System to send the right commands to the motors to maintain his balance. The commands to the motors are accelerations. For example if the robot is tilted forward (angle of robot is 3º) then he sends a command to the motors to accelerate forward until this angle is reduced to zero to preserve the balance.
Lesson Plan and Activity
What problem are we solving here?
The physical problem that B-ROBOT solves is called the Inverted Pendulum. This is the same mechanism you need to balance an umbrella above your hand. The pivot point is under the center of mass of the object. More information on Inverted Pendulum here. The mathematical solution to the problem is not easy but we don’t need to understand it in order to solve our robot´s balance issue. What we need to know is how should do to restore the robot´s balance so we can implement a Control Algorithm to resolve the problem.
A Control System is very useful in Robotics (an Industrial automation). Basically it´s a code that receives information from sensors and target commands as inputs and creates, in consequence, output signals to drive the Robot actuators (the motors in our example) in order to regulate the system. We are using a PID controller (Proportional + Derivative + Integral). This type of control has 3 constants to adjust kP,kD,kI.
More info at: http://jjrobots.com/projects-2/b-robot/
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B-robot EVO (the evolved Self balancing robot) by jjrobots is licensed under the Creative Commons - Attribution license.
What does this mean?
- You must attribute (give credit) to the creator of this Thing.
- Remixing or Changing this Thing is allowed.
- Commercial use is allowed.
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