Introduction: How to Build Gripper Arm Tracked Robot Controlled Via Nrf24l01 Arduino

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The instruction "How to Build Gripper arm Tracked Robot Controlled Via Nrf24l01 Arduino" will explain how to build a three degree of freedom gripper arm installed on tracked wheeler driven by dual motor drive L298N module using MEGA2560 Arduino controller.The gripper arm and robot movement will be remoted by 8-channel transmitter(see instruction "How to Build 8 Channel Transmitter Nrf24l01 Arduino"

Step 1: Materials & Tools

Materials

1. 1 - Arduino controller - MEGA2560

2. 1 - NRF24L01 module

3. 1 - Socket adapter for NRF24L01(For protect & stabilize NRF24L01 module)

4. 1 - LED 10 mm.

5. 1 - Resistor 1 kOhm. 1/4 watt.(Option)

6. 1 - Capacitor 0.1 microF /50V.

7. 1 - Capacitor 1 microF /50V.

8. 1 - Capacitor 100 microF /50V.

9. 1 - Diode 1N4007

10. 1 - 7805 IC Regulator 5V.

11. Dupont wires.

12. Female pin header

13. Male pin header

14.1 - Dual motor drive L298N module

15. Male JST Battery Pigtail

16. Heat shrink tube 1.5 - 10 mm.

17. Velcro tape

18. 1 - PCB.DIY. circuit board

19. Battery Lipo 11.1V. 2200 mAh (3 cells)

20. Tracked wheel toy with dual motors

21. Electrical 26 AWG wires

22. Acrylic sheet 5 mm. thickness

23. Bolts M3

24. Nuts M3

25. Tapered head self-tapping screw

26. 1 - Three degree of freedom gripper arm

27. Dean plug

Tools

1. Soldering gun

2. Soldering wire

3. Soldering paste

4. Screw driver

5. Plier

6. Hot glue gun

7. Epoxy glue

8. Two sides glue tape

9. Plastic cutter

10. Electrical drill

11. Hack saw

Step 2: Parts Installation & DIY PCB

Mechanical parts installation

1.Cut and drill acrylic sheet to make platform base for equipments installation.(As your own design)

2.Fix acrylic sheet on tracked wheeler by self-tapping screws.

3.Fix gripper arm on base by M3 bolts and nuts.

4.Install L298N module on base by two-side glue tape.

5.Glue and paste velcro on acrylic base and battery.

Electronic parts installation

1.Making DIY PCB and wiring,soldering as above circuit diagram.

MEGA2560 pins to nrf24l01 module :

GND - GND

3.3V. - Vcc

9 - CE

53 - CSN

52 - SCK

51 - MOSI

50 - MISO

2 - IRQ

MEGA2560 pins to L298N module :

3 - ENA

4 - IN1

5 - IN2

6 - IN3

7 - IN4

8 - ENB

MEGA2560 pins to three servoes of gripper arm :

11 - Arm1

12 - Arm2

13 - Gripper

6.Assembly PCB on MEGA2560,putting pins on the correct headers as circuit diagram.

7.Wiring and connecting three servoes of gripper arm to PCB.

8.Attach MEGA2560 board on acrylic base by two-side glue tape.

9.Wiring dual motors to L298N module.

10.Checking and finding short circuit points.(beware of high current electrical short circuit ,will caught fire)

11.Testing the direction of motors and gripper arm servoes.

Step 3: Coding Sketch

1.Download sketch from Github.

2.Upload to MEGA2560 controller.

3.Test controlling between transmitter and gripper arm tracked robot.

Remarks : If the nrf24l01 module had never bound before see how to pair frequency in video clip.