Mecanum Robot Car

thingiverse

This is a CNC Robot Car based on an eBay Product. To support Makers and open source initiatives, every bit of data in this Project can easily be customised with open source programs (Thonny, ArduinoIDE, FreeCAD) or at least free programs (easyEDA) to make your own remix. This design is made as a multi purpose robot platform, that can precisely be driven by gCode commands via wifi (micropython webrepl). This basic configuration can be upgraded with any kind of tool at the front due to the free 3 mm construction holes. Robot arm controls can easily be implemented to the micropython program with the method of homogeneous matrices. The robot is controlled by an Arduino Mega Pro (Arduino) and an ESP32 (Micropython). Both are placed on a pcb designed for this car. current problems: - comments and filenames are mostly in German language - some of the mounting holes in the pcb are not at the exact right place - the pcb was designed with easyEDA and not with an open source program like KiCAD, which is compatible with freeCAD - the measurement of the incremental wheel encoder loses steps and I do not know why - I implemented no pretty 3D-model of a 80 mm Mecanum Wheel. I only designed an ugly dummy. - STL files will follow soon Used Programs: - ArduinoIDE for the Arduino Mega Pro - Thonny for every Micropython program - FreeCAD 0.19 (with Fasteners Add-on) - easyEDA for the PCB design (KiCAD shall be used in the future as open-source alternative) Parts list: Basic parts: - a basic chassis found on ebay: - 1x 0.96 inch 64x128 monochrome I2C Display - 1x 12 v 4.5 Ah Lead Acid Battery (107x90x70 mm) Parts for the PCB: Boards: - 1x NodeMCU ESP32_DevkitC_V4 - 1x Arduino Mega Pro - 2x L298N motor drivers - 2x 1 kOhm resistors - 2x 2 kOhm resistors - 1x 11x15 mm Rocker Switch Connectors: - 4x JST PH SERIES (TH)_MALE_ST_06 connectors (1x6 Pins) (to connect the motors to the board) - 1x 2er terminal Block connector PH 2.54 (to connect the battery) - 2x spade connector (min 4.8 mm for the battery) - 1x 1x4 female pin header PH2.54 (for the display) For the NodeMCU: - 2x 1x19 female pin headers PH2.54 For the Arduino Mega Pro: - 1x 2x6 female pin header PH2.54 - 1x 2x16 female pin header PH2.54 - 3x 2x7 female pin headers PH2.54 For the optional parts: - 2x 1x6 female pin headers PH2.54 (MUP6050 and SD-card-reader) - 6x 1x4 female pin headers PH2.54 (ultrasonic sensors) Optional parts: - 1x MPU6050 gyroscope and acelometer (optional) - 6x HC-SR04 ultrasonic sensors (optional) Fasteners: - 4x M2.5x6 ISO4029 (included in the eBay Chassis) - 22x M3x10 ISO 4762 (16x included in the eBay Chassis, non are needed without the ultrasonic sensors) - 4x M3x14 ISO 4762 - 4x M3x30 ISO 4762 - 4x M3x10 PCB metric spacer - 30x M3 Nut ISO 4032 (only 8 are needed without the ultrasonic sensors) What I hope the community does: - Find my mistakes - Remix the design with their own Add-on tools on top of the Mecanum Car - maybe there is someone who can help me translate everything form German to English - maybe there is a better programmer than me (not really difficult), who can help me improve the programs Sources: CAD: - https://grabcad.com/library/oled-tft-0-96-inch-64x128-monochrome-i2c-1 - https://grabcad.com/library/rocker-switch-kcd1-11-2pin-15mm-x-10-5mm-1 - https://grabcad.com/library/mecanum-wheel-60 - https://grabcad.com/library/gy-91-mpu9250-bmp280-module-1 - https://grabcad.com/library/motor-driver-l298n-1 - https://grabcad.com/library/arduino-mega-2560-pro-1 - https://grabcad.com/library/pin-header-female-2-54mm-different-pin-numbers-1 - https://grabcad.com/library/terminal-block-5-08mm-pitch-1 - https://grabcad.com/library/jst-ph-th-connectors-90-st-with-plug-socket-1 - https://grabcad.com/library/goouuu-esp32-development-board-1 - https://www.thingiverse.com/thing:1718984/files