Final Project

Testing IR

I started to check the IR by using an arduino 


3D design

Using Fusion, I started to design the outer cover of the robotic cleaner. I designed the outer shape of a roller coaster because I could not find it on fusion, and I wanted to include it to make the design accurate.


A new perspective

I changed my mind because I had only 80 grams to print, so I decided to make the base wood and not 3D printed. I started to make the design on fusion. A simple rectangle and I fillet it, then I added small rectangles for the motors with wheels, then I opened two slots for fixing the motors to the design.

200mm rectangle with 30*75 mm rectangles

Slots for the motors

fixing motors

cutting this shape

cutting the base

fixing components on the base


Change the base, again!!!!

When I wanted to print the body of the vacuum cleaner, I found it too big for printing, it didn't fit the machine. So, I had to change the chasis for the third time and to make it smaller. I made it circular because it looked cuter, and I decreased the diameter from 200 mm to 180 mm. I made two slots at its ends to fit the 3D body. Then I made the body by making two circles 2 mm aparts and extruding them

another smaller base

STL file


Attaching components

I attached the components to the base. I attached the fan from its back to suck dirts, I put a cup over it to keep dirts from falling, I attached the arduino to the motors, and I attached the H bridge to the cup, finally I attached to IR sensors to the base.  


coding and testing

First, I coded for the wheels, then I Changed their speed to 40 for each motor because they were very fast. then I coded for the right and left IR. And the fan was connected to a 12 v source and it was cleaning the dirt even though its quality is low. I finished the design, and it works fine, but I just wait for the body to be printed.

Steps:

1. Connect a 12V source adapter to the H bridge and the fan to power them ( red wires in the first openeing and the black(GND) to the second openeing). Don't forget to connect the ground of the Arduino to the ground on the H bridge.

2. connect the 3rd opening on the H bridge to the 5V of the arduino, and connect the vcc of the 2 IR sensors to the same opening on the H bridge.

3. connect the wires of the 2 motors to each sides of the H bridge, and connect 4 pins from the Arduino to the 4 pins of the H bridge ( two for each motor).

4. connect each IR sensor output to a pin on the Arduino.

5. Finally, connect the two enables on the H bridge to analog pins on the Arduino to control motors speed, and upload the code.

 


final test

The printed cover was good but the clips were weak and they broke once I used them. I had to change few things in the code to work properly.