15.4 -- Implementation

Fabrication and Assembly

For our robot, all fabrication was done in OnShape, allowing us to utilize cloud-shared storage to make individual changes across the timeline (Fig 1-4). Once all parts were at a finalized stage in modeling, we used PLA plastic to 3D Print our parts, as this provided both rigidity for structure and lightweight for movement. The 3D parts were assembled using ball bearings (for rotating joints) and superglue (for static objects) to ensure stability and maneuverability of the robot.

Fig 1. Gripper and Arm Mechanism attached to head and neck

Fig 2. Base Assembly housing primary electrical components

Fig 3. Side Profile of Arm Dimensioning

Electronics and Circuitry

Our robot’s electrical and circuitry components included a 9V battery pack, Arduino UNO, AZ-L298N Motor Controller, brushless motors, mini breadboard, and miniservos. All electrical components were connected using a similar layout to that of the Demo 2 moving car, with some changes to account for the servos on the arms and gripping mechanism.

Fig. 4 General Layout of circuitry with battery pack attached

Fig 5. Arduino Schematic layout

Software Development

Our design had all programming done in ArduinoIDE to control the wheels, arms, and gripping mechanism.

Arduino Code: