WEEK 28: BUILD PROTOTYPE

OBJECTIVE

1. To assemble the electronic components.
2. To assemble the 3D printing body parts.
3. To build the quadruped robot prototype.

METHODOLOGY

1. Uploading the coding to Wemos D1 Mini and ARDUINO Pro Mini.
2. Assemble the Wemos D1 Mini, ARDUINO Pro Mini and PCA 9685.
3. Assemble the 3D printing body parts with servo motors.
4. Connecting the servo motors to the PCA 9685 according to the port declared in the coding.
5. Soldering the positive and negative of Li-Poly battery to the switch and DC-DC step down converter and UBEC voltage converter.
6. Connecting the DC-DC step down converter to the Wemos D1 Mini, ARDUINO Pro Mini and PCA 9685.
7. Connecting the UBEC voltage converter to all the servo motors.
8. Tighten the screw and glue the components to the robot to complete build the quadruped robot.

RESULT

As a result, the following pictures are the process of assembling the quadruped robot prototype.

Assembling each leg parts with two servo motors

Screwing four servo motors to the body part

Complete assemble of 3D printing body parts with Servo motors

Complete connection of the electronic components, Li-Poly battery and the robot body

ANALYSIS/DISCUSSION

The arduino and Wemos D1 Mini was uploaded with the coding before connecting to each other and other components to avoid error from the board. The servo horn has some difficulty put because of the 3D printing leg parts has small space to put the servo horn. Hence, the servo horn is tighten to the leg using cable tie. The body of the robot has small space, it can only fit with Wemos D1 Mini, ARDUINO Pro Mini and also PCA9685. The UBEC and DC-DC step down converter was place on top of the robot, glued along with the Li-Poly battery. 

CONCLUSION

As a conclusion, the quadruped robot prototype was finish assemble and the robot is ready to be test.