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Step 60: Wiring

The Multipurpose Mobile Manipulator Mk 1 has a lot of actuators and sensors that need to be controlled simultaneously by a single Arduino Mega. Here is a list of the components that need to go on the main perfboard to drive them all:

  • 4x Screw Terminals (12V, 6V, 12V->6V, 5V)
  • 2x 4 pin header for Ultrasonic Rangefinder (5V, TRIG, ECHO, GND)
  • 1x 5 pin header for Dual DC Motor Driver (DIR1, PWM1, DIR2, PWM2, GND)
  • 2x 8 pin header pair for Stepper Motor Driver (STEP, DIR, RESET, 12V, GND, 5V, GND)
  • 2x 10k ohm Resistor for Stepper Limit Switch
  • 2x 2 pin header for Stepper Limit Switch
  • 2x 100UF Capacitor for Stepper Motor
  • 1x 10k ohm Resistor for Transistor
  • 1x Transistor for turning fans on and off
  • 3x 2 pin header for 80 mm computer fan (12V, GND)
  • 14x 3 pin headers for Hobby Servo Motors (SIG, 6V, GND)

Arrange these components onto a large perfboard and solder/wire them according to the schematic provided. An example arrangement of the components is shown in the reference image above. Note that there are 3 main voltages that are running on the robot: 5 volts for the sensors and limit switches, 6 volts for the hobby servo motors, and 12 volts for the fans, stepper motors and DC gearmotors. (If you prefer, it is also possible create the electronics layout on a standard size breadboard first before attempting to create the more permanent perfboard.)

When you are finished soldering all of the electronics on the control board, connect the header pins on the perfboard to the various sensors and actuators across the robot. Also, connect all the required control pins from the perfboard to the Arduino Mega as shown in the schematic. An image is provided for reference on what all the wiring will look like when completed.

Note: When connecting wires to the Arduino Mega, it is recommended to use only one of the back rows of the Arduino Mega 2560, not both. The Arduino Mega has a particularly nasty pin-bleed effect with the two back rows: setting one pin to high has a very high chance of setting its adjacent pin to high as well.

<p>Hi, I think this is the best robot ever made! It's so incredible, what it can do is amazing! Normally, most robots can do only one task, but your project broke this rule. Congratulations!</p>
<p>Thanks MohamedElkhatri! Wait till you see version 2 ;)</p>
<p>Pretty sure it will be amazing as well. Just a small proposition if you don't mind : why don't you give it &quot;home assistant&quot; tasks such as home control and make it familiar with its environment. Hope you a good luck!</p>
I need someone who will pick up what is dropped and ask where it goes then put it away.
<p>An interesting idea. The robot can be made a little shorter to pick things up from the floor. Speech recognition is also definitely something to explore.</p>
I plan on having my students build something similar to this using an electric wheelchair as base. This design gives me more ideas!
<p>Glad to hear! Feel free to use whatever you need and I hope you will learn something useful going over this Instructable. Let me know if you need help with anything and I will be glad to advise :) </p>
Amazing build, looks incredibly modular! Any thoughts on dressing it in a tux when you're done, to make it a robot butler? ;)
<p>Certainly. I'm thinking painting it black,, making the acrylic front plate white and giving it a bow tie :)</p>

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Bio: Just a guy that likes building robots and videogames.
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