holonomic robot platform
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HThe following is a brief summary of my design for a low cost holonomic robot platform using mechanum wheels and nema 17
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- Printables
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- Creative Commons — Attribution — Noncommercial
Holonomic Robotic Platform
The following is a brief summary of my design for a low cost holonomic robot platform. It is made entirely from 3D printed parts and driven by NEMA17 stepper motors and a RAMPS board. The drive stack is controlled by a RaspberryPi 4 using ROS. In addition, an HLS LFCD LIDAR sensor is used to execute a SLAM algorithm.
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holonomic drivestack
The platform uses mechanumwheels in x configuration, designed by jhansen3141 (https://www.thingiverse.com/thing:436751). The motors are NEMA17 stepper motors, as used in many 3D printers. The motors are controlled using RAMPS and an Arduino Mega. A custom libary was written which controls the motor speeds based on an x,y,w speed specification. RAMPS and Arduino are placed under the rear panel.
arrangement of the components on the platform
Raspberrypi
The platform is used in conjunction with the ROS framework. Therefore, a Raspberry Pi 4 is used which acts as the ROS master. It transmits the speed specification in the format serially to the Arduino. The Raspberry Pi 4 also processes the data from the HLS LFCD LIDAR sensor. the LIDAR is located on the front panel, the Raspberry Pi 4 underneath.
underside of the platform with wiring
power suppy
The platform is powered by a USB-PD powerbank using an USB-PD trigger circuit. this is necessary because the A4988 drivers used require at least 8V in the power circuit. However, it turned out that the powerbank used reduced the voltage of the USB-PD port to 5V again when another consumer was connected. A second powerbank was therefore used to supply the Raspberrypi. Further research should therefore be carried out into the use of USB-PD powerbanks.
code / programming
the used programmcodes can be found on authors github page
https://github.com/LuNiPo/RobotSource
chassis design
When designing the chassis, care was taken to ensure that it could be fully 3d printed. In addition, a particularly torsionally soft design was aimed at in order to compensate for uneven floors and roundness errors of the mechanumwheels. Tests have shown that a twist of 5mm from the ground plane is possible on each wheel.
in total, 520g pla and 250g tpu were used.Category: Electronics