I created this as a simple project for those just starting out in robotics. It is relatively inexpensive, requires minimal tools and is easy to build. Once finished you have an expandable robotic platform that fits in the palm of your hand and can be easily programmed in the Arduino environment.
Here is is driving in a triangle, without any special add ons
In the instructions I'll walk you through how to:
- Modify the servos for continuous rotation
- Fit the track hubs on to the servos
- Make a custom battery pack
- Wire it with a few connections
- Assemble it
- Program it
For the basic platform the following supplies are needed:
an Arduino nano
a small rechargeable battery
a pair of 9 g servos, modified for continuous rotation
part of a Tamiya track set
a 40 pin dip socket
a rubber eraser
some zip ties
Step 1: Construction: Modify the servos
- Remove the tiny screws and open the case
- Cut the potentiometer wires, these are where you will attach the resistors
- If you have surface mount resistors, place a 5k (1k to 10k should work) on the pad from each of the side pads to the middle pad, if you don't twist a pair of through hole resistors like this
- Break out the stop on the potentiometer with some small pliers, you need the pot for its use as a rotational bearing
- solder on the resistors, if you used the pair of through hole ones, I recommend bundling them in electrical tape like so. For the servo that will go on the front, cut a notch for the wire to exit through the side so it doesn't come from under the robot.
- (not shown) Before you close up, put a hole in the back part of the case opposite the spline to mount the idler (wheel with no teeth).
- Use some angle cutters or pliers to remove any mounting flanges from the cases and file or sand down the ridges they leave, these can get in the way later.