Introduction: Lily∞Bot Version 2: Open Source Robot for Academics

By NoireSTEMinist
About: I am a professor of electrical engineering and robotics, Open Source Hardware Trailblazer, and co-founder of Black In Engineering and Black in Robotics. @drcaberry and @noiresteminist on most socials . It will…

I am an open-source hardware trailblazer and this is part of my guidebook to show academics how to engage in open source hardware for service, education and research in particular in the area of robotics. The first phase is the creation of the Lily-bot for service and education for novice users. The next phase will scale up Lily-bot to Daisy-bot for high school students and college undergraduates (freshmen). This robot will be completely open-course created with 3d prints and off the shelf parts, and modular enough to modify the CAD files to remove and add parts based upon the user’s need. To learn more about this project please check out the following links.

To assemble please follow the steps and watch the assembly video.

Supplies

  • Upper Chassis (3d print from GITHUB)
  • Lower Chassis (3d print from GITHUB)
  • 2 Motor Mounts (3d print from GITHUB)
  • 4 Standoffs (3d print from GITHUB)
  • IR Sensor mount (3d print from GITHUB)
  • Sonar Sensor mount (3d print from GITHUB)
  • 2 Caster ball wheel 5/8"
  • 2 Mini breadboards 2
  • TB6612 Motor Driver
  • 2 TT DC Motors
  • PLA Filament 
  • Cinch strap
  • 3mm stainless steel Panhead Phillips Machine Screws (6mm, 8mm, 25mm)
  • 4 3mm Lock washers
  • Phillips Head ScrewDriver
  • 3 LEDS
  • 3 220Ω resistors
  • Various male-female wires
  • Various male-male wires
  • Amazon robot parts list

Step 1: Print 3D Models and Get Supplies

Purchase all items and get all supplies on the list and download and print the 3d models from the GITHUB repository. Make sure to print the number indicated in the supply list.

Step 2: Assemble the Upper Chassis

  • Use the two 6 mm screws to attach the Arduino uno to the upper chassis
  • Tape two mini breadboards next to the Arduino uno as shown in the image
  • Place the TB6612 motor controller on the breadboard to be wired later
  • Place the 4 LEDs on the breadboard to be wired later.

Step 3: Assemble the Lower Chassis

  • Use 25 mm screws to attach motor mounts to each TT motor
  • Make sure the motor mounts attach on the same side as the red and white wires
  • There should be one left and one right motor mount
  • Attach the motors by dropping and screwing on each side so that the red and white wires face each other
  • The spinning end of the motor should point away from the Lily∞Bot words on the bottom chassis
  • Use 4 8 mm screws to attach the two 5/8" caster wheels
  • Use the cinch strap to attach a AA or 9V battery holder.
  • Attach the 2 TT DC motors to each motor


Step 4: Connect Upper and Lower Chassis

  • Line up the chassis so that the Lily∞Bot words face the same way
  • Use the eight 8 mm screws to attach the 4 standoffs in the four corners

Step 5: Motion Control on Lily∞Bot

Visit Step 7 on the following Instructable to test out motion control on Lily∞Bot version 2. https://www.instructables.com/Lily-Bot-Open-Source-Robot-for-Academics/