This page (revision-25) was last changed on 2021-04-29 05:29 by Murray Altheim

This page was created on 2019-12-28 07:38 by unknown

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Version Date Modified Size Author Changes ... Change note
25 2021-04-29 05:29 11 KB Murray Altheim to previous
24 2021-04-29 05:22 11 KB Murray Altheim to previous | to last
23 2020-05-01 08:39 11 KB Murray Altheim to previous | to last
22 2020-02-08 05:45 10 KB Murray Altheim to previous | to last
21 2020-02-08 00:34 9 KB Murray Altheim to previous | to last

Page References

Incoming links Outgoing links
KRZ 01
KRZ01

Version management

Difference between version and

At line 9 added 3 lines
Note that the KRZ01 has been superceded by the __[KRZ02]__, a Mechanum-wheeled robot. Its Raspberry Pi Zero W, Mini Black Hat Hack3r, and Picon Zero motor controller were used.
At line 11 changed one line
[{Image src='attach/KRZ01/krz01-top-thumb.jpg' link='attach/KRZ01/krz01-top.jpg' caption='top view showing breakout board and motor controller' align='right' class='imgFloatRight'}]
[{Image src='attach/KRZ01/krz01-top-thumb.jpg' link='attach/KRZ01/krz01-top.jpg' caption='Breakout Board and Motor Controller (click to enlarge)' align='right' class='imgFloatRight'}]
At line 27 changed 2 lines
| [{Image src='attach/KRZ01/krz01-side-thumb.jpg' link='attach/KRZ01/krz01-side.jpg' caption='side view (click to enlarge)' align='left' class='imgFloatLeft'}] | [{Image src='attach/KRZ01/krz01-front-thumb.jpg' link='attach/KRZ01/krz01-front.jpg' caption='front view (click to enlarge)' align='right' class='imgFloatRight'}]
| [{Image src='attach/KRZ01/krz01-bottom-thumb.jpg' link='attach/KRZ01/krz01-bottom.jpg' caption='bottom view (click to enlarge)' align='left' class='imgFloatLeft'}] | [{Image src='attach/KRZ01/krz01-iso2-thumb.jpg' link='attach/KRZ01/krz01-iso2.jpg' caption='iso view (click to enlarge)' align='right' class='imgFloatRight'}]
| [{Image src='attach/KRZ01/krz01-side-thumb.jpg' link='attach/KRZ01/krz01-side.jpg' caption='Side View (click to enlarge)' align='left' class='imgFloatLeft'}] | [{Image src='attach/KRZ01/krz01-front-thumb.jpg' link='attach/KRZ01/krz01-front.jpg' caption='Front View (click to enlarge)' align='right' class='imgFloatRight'}]
| [{Image src='attach/KRZ01/krz01-iso2-thumb.jpg' link='attach/KRZ01/krz01-iso2.jpg' caption='Overall View (click to enlarge)' align='left' class='imgFloatLeft'}] | [{Image src='attach/KRZ01/krz01-bottom-thumb.jpg' link='attach/KRZ01/krz01-bottom.jpg' caption='Bottom View (click to enlarge)' align='right' class='imgFloatRight'}]
At line 73 added 3 lines
This is the base price of the robot without the servo or VL53L1X Time of Flight (ToF) Sensor.
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| 2x | [Micro Gear Motor (Extended back shaft) - 298:1|https://shop.pimoroni.com/products/micro-metal-gearmotor-extended-back-shaft?variant=3073681089] | £5.10 | nz | Pimoroni |
| 1x | [Magnetic Encoder Pair Kit|https://shop.pimoroni.com/products/magnetic-encoder-pair-kit-for-micro-metal-gearmotors-12-cpr-2-7-18v-hpcb-compatible] | £9 | nz | Pimoroni |
| 1x | [Micro Metal Gearmotor Bracket (Pair)|https://shop.pimoroni.com/products/pimoroni-gearmotor-bracket-pair] | £3.90 | nz | Pimoroni |
| 1x | [Moon Buggy Wheels - Pair|https://shop.pimoroni.com/products/moon-buggy-wheels-pair] | £4.50 | nz | Pimoroni |
| 1x | [Mini Black HAT Hack3r – PCB only|https://shop.pimoroni.com/products/mini-black-hat-hack3r?variant=19448026119] | £4.50 | nz | Pimoroni |
| 2x | [Male 40-pin 2x20 HAT Header|https://shop.pimoroni.com/products/male-40-pin-2x20-hat-header?variant=10476117383] | £1 | nz | Pimoroni |
| 1x | [2x20 pin Female GPIO Header for Raspberry Pi - 11mm|https://shop.pimoroni.com/products/2x20-pin-gpio-header-for-raspberry-pi-2-b-a?variant=1132812269] | £2.10 | nz | Pimoroni |
| 1x | [Breakout Garden Mini (I2C)|https://shop.pimoroni.com/products/breakout-garden-mini-i2c] | £9.60 | nz | Pimoroni |
| 3x | [Sharp GP2Y0D810Z0F Digital Distance Sensor 2-10cm|https://www.adafruit.com/product/1927] | $7.95 | nz | Adafruit |
| 1x | i | e | nz | v |
|| Total | | || NZ$52 |
| 2x | [Micro Gear Motor (Extended back shaft) - 298:1|https://shop.pimoroni.com/products/micro-metal-gearmotor-extended-back-shaft?variant=3073681089] | £5.10 | NZ$20 | Pimoroni |
| 1x | [Magnetic Encoder Pair Kit|https://shop.pimoroni.com/products/magnetic-encoder-pair-kit-for-micro-metal-gearmotors-12-cpr-2-7-18v-hpcb-compatible] | £9 | NZ$18 | Pimoroni |
| 1x | [Micro Metal Gearmotor Bracket (Pair)|https://shop.pimoroni.com/products/pimoroni-gearmotor-bracket-pair] | £3.90 | NZ$16 | Pimoroni |
| 1x | [Moon Buggy Wheels - Pair|https://shop.pimoroni.com/products/moon-buggy-wheels-pair] | £4.50 | NZ$9 | Pimoroni |
| 1x | [Mini Black HAT Hack3r – PCB only|https://shop.pimoroni.com/products/mini-black-hat-hack3r?variant=19448026119] | £4.50 | NZ$9 | Pimoroni |
| 2x | [Male 40-pin 2x20 HAT Header|https://shop.pimoroni.com/products/male-40-pin-2x20-hat-header?variant=10476117383] | £1 | NZ$2 | Pimoroni |
| 1x | [2x20 pin Female GPIO Header for Raspberry Pi - 11mm|https://shop.pimoroni.com/products/2x20-pin-gpio-header-for-raspberry-pi-2-b-a?variant=1132812269] | £2.10 | NZ$8.50 | Pimoroni |
| 1x | [Breakout Garden Mini (I2C)|https://shop.pimoroni.com/products/breakout-garden-mini-i2c] | £9.60 | NZ$19 | Pimoroni |
| 3x | [Sharp GP2Y0D810Z0F Digital Distance Sensor 2-10cm|https://www.adafruit.com/product/1927] | US$7.95 | NZ$37 | Adafruit |
| 1x | 3mm Delrin chassis, nuts and bolts | - | NZ$20 | Adafruit |
|| Base Total | | || NZ$210.50 |
| 1x | [VL53L1X Time of Flight (ToF) Sensor|https://shop.pimoroni.com/products/vl53l1x-breakout] | £14.40 | NZ$29 | Pimoroni |
| 1x | [Micro servo|https://www.adafruit.com/product/169] | US$5.95 | NZ$9 | Adafruit |
|| Extras Total | | || NZ$248.50 |
At line 110 changed one line
As this uses a Breakout Garden it's easy to change the sensors to different I²C [Breakout Garden|https://shop.pimoroni.com/collections/breakout-garden] boards. If the Mini Black HAT Hack3r (holding the Pi, motor controller and Breakout Garden Mini) were moved a bit aft, there might be enough at the front to mount a [Pixy2 camera|https://pixycam.com/]. It's yet not clear that a Raspberry Pi Zero has enough processing power to work effectively with a Pixy2, so this will likely be implemented on the KR01 instead.
As this uses a Breakout Garden it's easy to change the sensors to different I²C [Breakout Garden|https://shop.pimoroni.com/collections/breakout-garden] boards. If the Mini Black HAT Hack3r (holding the Pi, motor controller and Breakout Garden Mini) were moved a bit aft, there might be enough at the front to mount a [Pixy2 camera|https://pixycam.com/]. It's yet not clear that a Raspberry Pi Zero has enough processing power to work effectively with a Pixy2, so this will likely be implemented on the KR01 instead. Otherwise there's room up front for a common Pi camera if the servo is left off (or mount the camera on the servo!)
At line 115 changed one line
The robot currently has no bumpers. I'm considering making a tiny version of the KR01's polycarbonate bumpers, or perhaps a pair of piano wire feelers. At this point the robot will be relying entirely on its infrared sensors. We'll see how this works out.
This robot uses 47mm "Moon Buggy" wheels and ball casters. The fore caster is mounted a bit higher than the aft caster, so (hopefully) it won't snag on things. Absent a bumper this is a possibility. The robot is fine on wood floors and low-pile carpets, and can navigate between them without incident. There's a Kilim rug in the lounge (owned by the cat) that has a 15mm edge which has proved impossible for the robot to surmount. It just pushes up against that edge and spins its wheels.
At line 126 added 2 lines
This points out the fact that robot currently has no bumpers. I'm considering making a tiny version of the KR01's polycarbonate bumpers, or perhaps a pair of piano wire feelers. The robot is currently relying entirely on its infrared sensors. We'll see how this works out, but given it can hang up on the cat carpet perhaps a bumper is in order.
At line 118 removed one line
At line 130 added 2 lines
__1 May 2020 Update:__ the front ball caster seemed to get hung up sometimes when trying to transition from floor to carpet. David Anderson had cautioned against using a front caster in [his YouTube video|https://youtu.be/8CXReb7f0Eo], so this was hardly an unknown. Due to this issue the front caster has been removed, and the symmetry of the robot sacrificed a bit by moving the wheels forward about 1cm in order to set the balance aft. Even with this change of balance it's still possible for the robot to fall forward onto its nose. Some kind of curved skid to keep this from happening could be fitted, but currently the plan is to change this from a 2 wheeled to 4 Mecanum wheel robot, so no further changes to this design are expected.
At line 124 changed one line
[{Tag Robot RobotPrototype}]
[{Tag KRZ01 Robot RobotPrototype}]
This page (revision-25) was last changed on 2021-04-29 05:29 by Murray AltheimTop