Introduction: GECO - Wall Climbing Robot
This is an instructable on how to make a wall climbing robot using impeller technology. The goal of GECO (a research project from Ghent University) was to create a low cost, diy wall climbing robot.
Our solution uses the following parts:
- EDF ducted fan (70mm - 1,45kg thrust) (XRP-70142600)
- ESC (60A 2-6S)
- Lipo battery (2600 mAh)
- Arduino Uno
- Motor Board (L298N)
- Micro motors (Pololu 1595 - 1000:1 - 6V)
- Wifi module
And uses the following techniques:
- 3D printing
Step 1: Calculations
If you want to make a wall climbing robot like GECO but don't use the same fan, you'll need to calculate the needed 'thrust' of the fan. Therefore you can use the equation as shown in the upper image.
First you'll need to know the mass of the robot. I managed to estimate the mass quite accurate by summing up the masses of the parts of the robot (don't forget the mass of the fan too). I got: m = 800 gram.
For the friction coefficient for rubber on concrete I found: µ = 0.6 (you can argue with the use of this number)
With this we can solve the equation.
Fs = (0.8 kg * 9.81 N/kg) / 0.6 = 13,08 N
Because most of the ducted fans are indicated with 'kilogram-force' or 'thrust' we will now convert the Newtons into kilogram-force.
Kilogram-force = 13,08 N / 9.81 N/kg = 1,33 kg thrust
Or you can check it on the following website: http://www.convertunits.com/from/kilogram-force/to...
Now you can choose the right fan for your project!
Step 2: Assembling
The zip file contains the 3D CAD models of the GECO robot. This way you can add or adjust parts from the robot.
It also contains a pdf file for lasercutting the base out of poplar wood (4 mm) and the cover out of pp (0.5 mm). After this you can 3D print the stl parts (PLA).
Everything is designed so assembling is easy.
Step 3: Electronics
First we add the impeller to the robot. After this you can add the lipo, esc, motorboard, motors, arduino, powerswitch and ledstrip.
The arduino will be powered by the lipo. To do this you will have to make a voltage regulator. The arduino will controll the motorboard, esc and ledstrip. You will have to connect a wifi module to the arduino so you can control the arduino from a distance.
We chose to integrate the arduino, voltage regulator and wifi module into one pcb, but this isn't necessary.
Step 4: Programming
The zip file contains a code in aruidno which is used to program the arduino chip and a processing file which is used to control the robot from a computer.
Step 5: Finishing
You can protect the content of the robot by adding this resealable cap.
Enjoy the GECO robot!