FabWalker

Created Date: 2015-06-02/ updated date: 2016-02-18
Owner & Collaborators
License
By nc sa
Summary
FabWalker is a stand-alone robot which consists of natural branches and plants. Users collect and attach branches and plants to complete a one of a kind walking botanical robot. The manner of how the robot walks changes according to the length and position of the attached branches. This robot design is an ongoing open-source project modified through many human hands. Please create, document and contribute to this growing robot ecosystem!

Materials

    Tools

      Blueprints

        Making

        • Assemble the Gear Box

          0
          Thumb kura sign
          Assemble the Tamiya Robo Craft Series Mechanical Giraffe by following the instructions No. 3, 4, 5, 7.
          The reversal switch is not necessary.

          Necessary tools: Nipper, Plier
          Small p6020637
          • Insert the Motor

            0
            Thumb kura sign
            Once the gear is assembled, turn it  to check that it moves smoothly and insert the motor. Press each of the motor's wires on the ends of a AA battery to check if the gear moves. (At this point, the battery’s polarity does not matter.)
        • Assembling the Electronics Section

          0
          Thumb kura sign
          Wire the electronics section that controls the robot’s movements.
          (If there are any alternative components, please leave a comment and let us know!)
          Small img 1499
          • Solder the Components

            0
            Thumb kura sign
            Solder pins headers to the Trinket, motor driver and regulator boards. 
            For the Trinket, you do not need to solder A6, A7 and the FTDI Header.
            Also solder two pins to the wires of the motor and battery holder, to make it easier to connect to the breadboard.
            • Small p7140655
            • Small img 1573
          • Soldering Tips

            0
            Thumb kura sign
            Inserting the pins to the breadboard and placing the board on top will make it more stable to solder the pins.


            ※ Too much heat can damage the chip on the board. Let the board cool down every 5 seconds you solder.
            Small solder
          • Wire the Components

            0
            Thumb kura sign
            Break off both ends of the bread board so that it will fit in the case.
            Be careful of the direction of the components. Refer to the previous pictures and pin names printed on the bottom of the board
            Connect the motor afterwards.

            Small fabwalker bb2
          • Upload the Sketch (1)

            0
            Thumb kura sign
            Upload the following Sketch Program to Trinket.

            ・Since the standard ArduinoIDE does not recognize Trinket, download Arduino 1.6.x IDE ・Open the IDE
            ・From the menu at the top of the screen, select [Tools] → [Board] and select Pro Trinket 3V/12MHz(USB) ・Do not select the Serial Port
          • Upload the sketch (2)

            0
            Thumb kura sign
            ・Open this sketch program 
            ・From [Tools] → [Programmer] select USBtinyISP
            ・Connect the Trinket to the PC with a USB2.0 A-miniB Cable.
            ・While the red LED is blinking, press the upload button at the top left of the window (the button with a right arrow).
          • Memo: If There Are Errors When Uploading

            0
            Thumb kura sign
            avrdude: Error: Could not find USBtiny device (0x1781/0xc9f)

            When this error appears, eject and insert the USB cable and upload the sketch while the red LED is blinking.
            Or try using the USB 2.0 Cable.
        • Attach the Battery Holder

          0
          Thumb kura sign
          Attach the Battery holder next to the gearbox with both sided tape. If the motor’s wires are too short, put it through the hole as shown in the picture.
          Small img 1501 2
          • Attach the Breadboard to the Gearbox

            0
            Thumb kura sign
            From the yellow plastic part, cut off two of the the smaller cylinders with a nipper. 

            Attach the breadboard with thick both sided tape. Since the head of the screw gets in the way, using thick tape will make it easier to attach the breadboard.
            Small img 1500
        • Make and Assemble the Top Part of the Leg

          0
          Thumb kura sign
          • Attach the Pieces to the Gearbox (1)

            0
            Thumb kura sign
            Referring to the image above and the Mechanical Giraffe’s instructions (No. 7, 8, 9), assemble the laser cutter pieces with the Mechanical Giraffe’s pieces. 
            Be careful of the direction and order of the pieces

            Small legparts2
          • Attach the Pieces to the Gearbox (2)

            0
            Thumb kura sign
            The grey pieces (A8) may be hard to insert through the hole, so use a plier.
            If A8 does not fit, use a M3 screw and nut instead.
          • Check Its Movement

            0
            Thumb kura sign
            Insert Two AA batteries into the battery holder and check the Fabwalker’s movement. (At this point it won't be able to walk.) 
            Chargeable lithium ion batteries such as eneloop are stable since they do not have voltage drops. Supply 3V with two batteries.
        • Gather Materials for the Robot’s Feet

          0
          Thumb kura sign
          Gather Material for the Robot’s Feet, such as branches of a tree, flowers and grass.
          Or you can use household items such as pens and tooth brushes.
          Small p6020624
          • Attaching the Legs

            0
            Thumb kura sign
            Use Cable Ties or Twist Ties to attach the legs to the Fabwalker’s body. Something that can be used repeatedly.

            (If you know a better way to attach the legs let us know in the comments. We used rubber bands for the previous version.) 
            Small img 1504
        • The Fabwalker is Complete!

          0
          Thumb kura sign
          Insert the batteries, and the Fabwalker will come to life! 

          It will be better to make a case to cover the electronics. For the WalkingTree version we 3D printed a case, put plants in it and made plants walk.



          Small img 1505
          • 歩く様子

            0
            足の付け方や長さ、素材によって歩き方が変わってきます。
            きちんと前進するベストな歩き方を探してみてください!
            (動画はちょっと曲がりながら歩いてます。。)
        • 補足:代替品情報

          0
          デュアル・モータードライバTB6612FNG(連続最大1.2A)
          ※代替品ドライバだとピン配列が若干違います。配線図は画像のようになります。
          (まだ繋げてないので動かなかったらコメントおねがいします)
          秋月のブレッドボード(こちらじゃないと両端の部分が取れない?)
          Small fabwalker alt bb
          Add Card Order

          References

            Usages

              Convert State

               to Annotation.

              Select the numebr of the state to annotate.

              OK
              cancel
              Loading

              facebook

              , data-width="400", data-show-faces="true" data-send="true"
              , data-width="400", data-order-by="reverse_time"