This Instructable is one part of a six-part series that will go through building the Zybot. This Instructable will guide you through everything you need to assemble the hardware of the Zybot.
For more information about the Zybot view this blog post.
There are two instructables on the hardware of the Zybot for two different versions. It doesn't matter which you follow.
The Zybot is a robot that is controlled by an Xbox controller through WiFi. It also has a camera that you can access via the WiFi. The ZYBO is an embedded software and digital circuit development board that we are using to run Linux.
At this point you should have completed the power considerations instructable. We are going to be setting up the hardware for the robot. Including the body, motor, camera arm and other miscellaneous parts we need for the robot to run. To make the Zybot you will need a lot of materials. I don't want to make a huge list here so I will list the parts in the next 2 steps, grouped based on where you might find these parts.
Step 1: Collect Materials
What You'll Need:
- 2 Printed Base Plates
The Printed Base plate is a rounded base plate and the STL file can be here. You can either 3D print them if you have access or send them out to a 3D printing service.
- 1 Motor Mount
- 2 DC Motors
- 2 GWS Servos
- 1 PmodCON3
- 3 Pmod Clips
- 1 ZYBO
- 1 VRM
or a suitable alternative
- 1 USB Webcam or equivalent
- 1 USB Wireless Adapter or equivalent
- 1 Tail Skid
- 1 USB Hub
- 1 Long Screw and Nut Kit
6 of each 1/2 inch screws
- Long Standoffs
At least 2 inch tall standoffs, like the ones found on this page.
- 3 Pmod Cables
You can find all of the Digilent Parts in this wishlist.
Step 2: Miscellaneous Materials
- Neck Piece
The Neck piece can be made of a variety of materials. What it is depends on the height you want from the camera. You can see the piece I choose in the image above. It is a piece of a 3D printed platform.
- Two Colors of Wire
- Wire Strippers
- Wire Cutters
Step 3: Obtain One Base Plate and Place Bottom Up
Grab one of the round base plates and place with the ridges facing up.
Step 4: Open the Motor Mount and Place on the Base Plate
Open the motor mount and set aside the large motor mount screw kit. Set the motor mount on the base plate with the center screw holes on top of the reinforced screw holes.
Step 5: Obtain Two Screws From the Long Screw Kit
Find the Long Screw Kit, or the long screws and nuts that you purchased.
Step 6: Attach the Motor Mount to the Base Plate
Using the long screws and nuts, attach the motor mount to the base plate. Make sure the tops of the screws are face up.
Step 7: Take Out Two Motors and Small Motor Screws
Take out the two DC motors and their tiny screw kits.
Step 8: Attach the Motors to the Motor Mount
Using the tiny screws, attach the motors to the motor mount.
Note: These screws are outrageously tiny, if you drop them, you will never find them again.
Step 9: Obtain the Tail Skid and Two Long Screws and Nuts
Grab the black plastic tail skid, and two more of the long screws and nuts.
Step 10: Attach the Tail Skid
Attach the tail skid to the base plate where there are raised ridges on the round side. Use the long screws and nuts.
Step 11: Obtain the Wheel Kit With D-hub Connector
Find the wheel kit with the D-hub connector. These would be the wheels with the D shaped hole in the center.
Step 12: Attach the Wheels to the Motors
Attach the wheels to the motors. To do this you just push the wheels on the shaft of the motor.
Step 13: Obtain Two Pmod Clips
Obtain two of the three Pmod clips.
Step 14: Attach Two Pmod Clips to the Base Plate
Attach the two Pmod clips to the base plate with the enclosed screws and nuts. You can see the placement in the image in this step.
Step 15: Attach Two PmodHB5
Pop in the two PmodHB5s to the Pmod clips. Plug in the PmodHB5sto the motors.
Step 16: Grab the Long Standoffs, Short Standoffs, and Small Servo Screws
Obtain the long standoffs, short standoffs, and 4 small screws from the servo bracket kit.
Step 17: Attach the Long and Short Standoff
Attach one of the long and short standoffs to the base plate in the position shown in the image. Stick the screw end of the long standoff into the hole on the base plate and screw the short standoff onto the long standoff.
Step 18: Attach the Other Three Standoffs
Attach the other 3 standoffs in a similar manner.
Step 19: Attach the Second Base Plate
Attach the second base plate to the long standoffs using the small screws from the servo kit.
Step 20: Obtain Two Servo Mounts
Get out the two servo mounts from the servo mounting kit.
Step 21: Attach the Two Servo Mounts
Attach the two servo mounts together using the large screws from the double motor mount kit.
Step 22: Remove the White Circular Attachment From One Servo
Get out one servo. Remove the white circular attachment from the servo by unscrewing it.
Step 23: Attach the Servo Without White Attachment to the Bracket
Attach the servo without the white attachment as shown with 4 of the screws and nuts from the servo mounting kit.
Step 24: Attach the Other Servo
Attach the other servo as shown in the image attached to this step.
Step 25: Obtain One Splined Wheel
Find the wheels with the splined connector. Get out one wheel.
Step 26: Attach the Splined Wheel to the Top Base Plate
Attach the Splined wheel to the top base plate using the final two long screws and nuts. The placement is shown in the image in this step.
Step 27: Attach the Zybo
Attach the Zybo to the top base plate using 4 screws from the servo mounting kit.
Step 28: Attach the Third Pmod Clip
Attach the third Pmod clip to the top base plate with the enclosed screws and nuts.
Step 29: Attach the VRM
Pop the VRM into the Pmod clip you attached in the last step.
Step 30: Plug in the PmodCON3
Plug the Pmod CON 3 into the top row of Pmod Port JD.
Step 31: Plug in the First PmodHB5
Plug in the first PmodHB5. Take one Pmod cable and plug it into the top of the Pmod port to the left of the PmodCON3. Pay close attention to the start on the cable. Note which pin it is plugged into.
Plug the other end of the same cable into the PmodHB5, again taking note of the placement of the star. If it was on pin one of the Pmod port, it needs to be on pin one on the PmodHB5.
Step 32: Plug in the Second PmodHB5
Plug in the second PmodHB5.
Take the two Pmod cables and one 6 pin header. Plug the two cables together paying close attention to the location of the stars. Make sure the stars are together.
Plug one end of the extended cable into the same Pmod Port as before, but the lower set, and the other end of the second PmodHB5. Again, pay attention to the location of the stars.
Step 33: Plug in the USB Hub
Obtain the USB Hub.
Plug the USB Hub into the Zybo.
Place the USB hub on the bottom base plate as shown.
Step 34: Attach the USB Hub
Using two zipties, attach the USB hub to the bottom base plate. Secure the cord with another ziptie.
Step 35: Attach the USB WiFi Dongle
Attach the USB WiFi Dongle to one of the USB ports of the USB hub.
Step 36: Manage the Cables
Using more zipties, secure the Pmod cables.
Step 37: Attach the Zybo to Power
Attach the Zybo to power using one of the MTE cables. Plug one end into the 5V and GND input of the Zybo and the other end into the 5V side of the VRM.
Step 38: Attach the PmodCON3 to Power
Attach the PmodCON3 to power using another MTE cable. Plug one end into the VRM 5 V output and one end into the input of the PmodCON3. Plug in the center Voltage input but do not plug in the ground of the PmodCON3.
Step 39: Cut Wires to Power the H-Bridges
Cut wires to power the PmodHB5s. You need to cut one wire for ground and one wire for power, one set for each Pmod. You can judge the length by eye from the VRM 12V screw terminal to the PmodHB5 screw terminal.
Strip about a quarter inch off each end.
Step 40: Attach the Wires to the VRM
Screw in the wires to the 12 V side of the VRM. Two into VCC, two into GND.
Step 41: Attach Wire to the PmodHB5s
Attach the wires to the PmodHB5s screw terminals paying close attention to which wire is voltage and which wire is ground.
Step 42: Contain the Wires
Using some more zip ties contain the wires.
Step 43: Put the Sticky Rubber Tires on the Wheels
Get out the Sticky Rubber Tires and put them on the wheels.
Step 44: Plug the Servos Into the Spined Hub Wheel
Plug the servos into the splined wheel hub. Pushing the splined hub of the servo without a round plastic piece, into the splined hub hole of the wheel.
Step 45: Plug the Two Servos Into the PmodCON3
Plug the two servos into the PmodCON3 paying close attention to the orientation.
Step 46: Attach the Camera
Attach the camera with zip ties and whatever camera neck piece you decided on.