Published December 18, 2018 © CC BY-NC-ND

1 KB 6-Legged Crawling Bot

The robot is controlled with an Arduino Nano and only uses 2 motors and 2 sensors. The program to control the robot is only 843 bytes big.

AdvancedShowcase (no instructions)Over 1 day850

Things used in this project

Hardware components

Arduino Nano

small coreless motor from a small rc helikopter

NPN transistor of the C-type

pcb prototype board

antenna for bearings

photosensor

1 K ohm resistor

3D printed parts in PLA plastic

2s 200mah LIPO battery

flexible coper wire 0.1-0.5 mm

you need about 1 meter

superglue

Story

Description

I designed the robot completly from scratch. The robot only uses 2 small coreless motors and 2 photosensors. The robot walks towards lights as it compares the values between the front photosensor and the rear photosensor. If the rear sensor detects more light than the front sensor the robot will turn until the front sensor detects more light than the rear sensor and the robot will then walk towards it. I used 8 transistors to make the 2 motors run left and right and at different speeds using PWM (see wiring diagram). The program is only 843 bytes big as it only needs to read and compare the value's of the photosensors and only needs to tell the motors to go on or off, left or right. The robot is powered by a 2 cell 200 mah lipo. part files can be found here: https://hackaday.io/project/52706-3d-printable-linear-actuator

Details

The controller is an Arduino Nano.

The coreless motors used in this project are from a small toy RC helicopter.

The bearings for the gears are just tubes from an antenna and this works very good.

The parts are printed in PLA plastic.

I used superglue to glue al the pieces together.

The transistors used are some I had lying around.

1 KB challenge

Build Instructions

Step 1

Included in the files is a file called "anatomy spider bot" here you can see how to assemble the robot and wich are the left and right sides of the frame and the limbs.

Step 2

Included in the files is a diagram to see how the connections to the Arduino are.

Step 3

Included in the files is the code for the robot.

Files

big gear right.stl

big gear right.123dx

code.PNG

big small gear right.123dx

1 kb chalange diagram.PNG

Code

1kb 6 legged crawling robot code

int T1 = 9;
int T2 = 8;
int T3 = 7;
int T4 = 6;
int T5 = 5;
int T6 = 4;
int T7 = 3;
int T8 = 2;
int S1 = A0;
int S2 = A1;
void setup(){
  pinMode(T1, OUTPUT);
  pinMode(T2, OUTPUT);
  pinMode(T3, OUTPUT);
  pinMode(T4, OUTPUT);
  pinMode(T5, OUTPUT);
  pinMode(T6, OUTPUT);
  pinMode(T7, OUTPUT);
  pinMode(T8, OUTPUT);
  pinMode(S1, INPUT);
  pinMode(S2, INPUT);
}
void loop(){
  int val1 = analogRead(S1);
  int val2 = analogRead(S2);
  if(val1 > val2){
  analogWrite(T1, 240);
  analogWrite(T6, 255);
  analogWrite(T2, 0);
  analogWrite(T5, 0);
  analogWrite(T3, 240);
  analogWrite(T8, 255);
  analogWrite(T4, 0);
  analogWrite(T7, 0);
  }
  else{
  analogWrite(T1, 240);
  analogWrite(T6, 255);
  analogWrite(T2, 0);
  analogWrite(T5, 0);
  analogWrite(T3, 0);
  analogWrite(T8, 0);
  analogWrite(T4, 240);
  analogWrite(T7, 255);
  }
}

Credits

Bribro12

25 projects • 26 followers

I'm a maker. I design and create my own projects and build them from scratch. My favorite tools are my 3D-printer and laser cutter

Contact

Comments

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1 KB 6-Legged Crawling Bot

Things used in this project

Hardware components

Story

Description

Details

Build Instructions

Files

Schematics

circuit diagram

Code

1kb 6 legged crawling robot code

Credits

Bribro12

Comments

Embed the widget on your own site

1 KB 6-Legged Crawling Bot

1 KB 6-Legged Crawling Bot

Things used in this project

Hardware components

Story

Description

Details

Build Instructions

Files

Schematics

circuit diagram

Code

1kb 6 legged crawling robot code

Credits

Bribro12

Comments

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