RDRK is acronym in my language (Lithuanian) for “Robotas Dėliojantis Rubiko Kubą“. This is my second project involving microcontrollers μC (the zeroth was LED blinkie and the first one was RC5 decoder).
Intro:
Up to now I have used only atmel AVR microcontrollers, so this bot is no exception with: ATmega16. Firmware is written entirely in C, also avrlib library for timing/PWM/UART was used. Although program is written with wxWidgets (C++) library, it won’t compile under Windows because the system calls in serial communication part, thought if you remove it, it should build with no hassle.
In action:
The build:
Basic communication scheme: (USB-to-RS232 (PL-2303))->MAX232->UART
Power: for servos and logic I’ve used L7805 with big heatsink (and yes, at operation time it was necessity) and DSA-20R-12 switching adapter
Servos: 2xMG995‘s for main arms and for 2xHXT900 “claws”
uC: atmega16; 7.3728Mhz; LF: 3f, HF: de
Other thoughts:
In order to use make with firmware you should export avrlib directory with:
export AVRLIB=/path/to/avrlib
Color recognition would be nice, but because it’s easy to do (as in: no challenge) and some cross platform problems (Unix/Linux) with webCAM I didn’t implement it (also partly because it’s not intended for daily use, and You should know that programmers are lazy)
Any questions? ASK!
Source files (tl;dr):
- Firmware: rdrk_fimware.2009-09-11.zip
- Software: soon
- CAD: cdr+dwg
- Eagle schematics/board: soon
Extra:
- video: rdrk.mov
- soundtrack: deep skydivers – momentum.mp3 (official site)
P.S. everything is under GNU GENERAL PUBLIC LICENSE.
Saunuolis, tikrai gabus ir talentingas esi jai sugebejai savo jegom sukonstruoti toki robotuka, manau neblogos perspektyvos taves laukia. Sekmes.
kokias detales panaudojai machaniniam judėjimui? Gal kokia schema pasidarei?
Na visų detalių brėžinai yra prieinami parsisiuntimui. Ten taip pat yra jungiamųjų dalių (linkage rods) išklotinės.
Šaunuolis. Keep it going ;)
Saunu matyt, kad ir Lietuvoj yra mastanciu ir kurianciu.
Super – šaunuolis :)
O kur konkreti shema?
Neturiu laiko dabar jai nubraižyti, bet tai straight-forward schema…
Crazy!
But the robot got help, I can see a helpful hand at the beginning and at the end, without it it would not do it! :-))))))
I cannot even finish the one I got at home, just five cubes away … !? I should download your software and figure out how to finish it.
Very, very neat!
Good point ;]]]
can u plz send me the software of this as i am final year student and want to do this project. my email id is dhep…@yahoo.com. plz plz plz send me that software and also programming. Thanks in advance if u fullfill my request.
Sorry, but no. IMO, final projects should be done on your own.
hi, what servos do you use for the gripper?
Servos: 2xMG995′s for main arms and for 2xHXT900 “claws”
Sveikas, gal galima butu gaut schema => (USB-to-RS232 (PL-2303))->MAX232->UART? nes turiu atliekama PL-2303 ir noreciau bendraut per USB, bet nezinau kaip pasijungt. Beto, yra kokie iskirtiniai draiveriai PL-2303?
Pačio 2303 datasheet’as,
232′jų: datasheet (arba schema)
kadangi 2303 veikia ant -15/+15, o mums reikia TTL įtampų, tai tenka naudoti du chip’us. kadangi aš pats turiu 2303 kaip adapterį, man užtenka tik vieną max232 panaudoti, bet jei pats turi pl2303 nuogą chip’ą manau tada tikrai galima rasti elegantiškesnių sprendimų.
Didelis dekui, tikrai pagelbejai ;)
no prob. :]
Saunu Andriau :) as kaip tik irgi pradejau dabar tuom dometis labai.. :) kaip tik ka tik susilitavau Arduino su atmega16 tik va vargstu dabar su bootloader … kazko neuzkraunu tinkamai ir jis nesijungia :) bet manau pavyks …. tada irgi pradesiu delioti tam tikrus projektus :)
Sveikinu :) vakar Iftorinoje abu paėmėm pirmąją vietą IT Kūrinio konkurse :) Tikrai pelnytai 1vietą paėmei :)
IMO mes abu pelnytai :}
Tikrai sveikinu su įvertinimu iftorinoje ;) Ir aš ten buvau. Truputį nustebau išvydęs tavojo darbelio video (pagalvojau juk jau mačiau tą video youtube) ;D Ždž sveikinimai ir nenustok dirbti!
great job,
i am planning a similar project, so i am interested in the “claws”.
Self made or bought from somewhere?
since i dont have Autocad or Corel, i cannot see the CAD drawings (maybe PDF ..)
thx, chester
“Claws” are self-made. About CAD drawings, I will convert them to PDFs ASAP (Tomorrow I have a IELTS test, so please be patient) And thanks for this idea, I will definitely use PDFs for publication in the future.
Smagu matyti tokiu gabiu zmoniu is savos salies :)