Almir One - 2WD Robot - Apex Team

Hello everyone!

Do you have a Arduino One and don´t know what to do with it? We can help you with that! We´re going to teach you step by step how to build a simple robot and how to program it.

And for the ones who don´t know what a Arduino One is, I´ll explain what is it.

Arduino is an open source electronic prototyping board. The project, which emerged in the city of Ivrea, Italy, in 2005, includes hardware and free software and aims to offer adaptable and low-cost tools for the creation of interactive projects of various orders. The Arduino basically reads the value of the sensor, which, was converted into electrical commands and based on the programming made it performs certain action.

The robot that you going to build is called 2WD, but our Team made remixed the project to improve the robot and we changed the name in honor of our Physics Professor, Almir Augusto Pascotti.

To make this instructables as detailed as possible, I will include the links where to buy all the supplies. But remember these links are just to help you where to start, because the sites may not deliver where you live. So feel free to change parts as nedded depending on what you have available.

For the Frame, it might be that you do not have access to a laser cutter, but there are online services that provide laser cutting, or the enclosure can be 3D printed or made out of cardboard.The enclosure is limited to your creativity. But if by luck you have a laser cutter, i´ll include a file under here with the Frame drawing.

• 1 Sheet 160X270x3 mm - Acrylic or MDF: https://www.elastobor.com.br/chapa-de-acrilico-elastobor-3mm-2x1mt-cristal/p
• 1 Caster: https://www.leroymerlin.com.br/rodizio-para-moveis-com-chapa-40kg-silicone-sem-freio-giratorio-50mm-incolor-1-peca_88525255
• 2 Gear motor: https://www.robocore.net/motor-motoredutor/motor-dc-3-6v-com-caixa-de-reducao-e-eixo-duplo
• 2 Wheel: https://www.robocore.net/roda/roda-hobby-65mm
• 1 Arduino One R3: https://www.robocore.net/placa-arduino/arduino-uno-r3
• 1 H Brigde L298N: https://www.robocore.net/driver-motor/driver-motor-ponte-h-l298n
• 1 Batteries Case: https://www.robocore.net/driver-motor/driver-motor-ponte-h-l298n
• 4 Batteries
• 1 Ultrasonic sensor SR-04: https://www.robocore.net/sensor-robo/sensor-de-distancia-ultrassonico-hc-sr04
• 2 IR Sensorr: https://www.robocore.net/sensor-robo/sensor-de-obstaculo
• Male-Female jumpers: https://www.robocore.net/cabo/jumpers-macho-femea-x40-unidades
• Male-Male jumpers: https://www.robocore.net/prototipagem-ferramentas/jumpers-macho-macho-x40-unidades
• 12 nuts
• 4 M3 screw (3cm)
• 2 M3 screw (1cm)
• 6 M3 screw (0,5cm)
• 6 M3 spacers (2cm)
• on/off switch

Tools:

• Laser cutter
• Soldering Iron
• Wire cutters
• Philips screw driver
• Eletric screw driver
• Double-sided tape

Note:

The above should be used to guide what will be needed to complete this project or make something similar.

Note:

There is a picture up in the media showing the names of the holes, so you can find where to put each component.

Frame

• mechanical sniffiness for the Almir One
• Snap the other components on the Frame.

Caster

• Non-motorized wheel that serves as a fulcrum.
• What do you need to snap it into the Frame:

-The Caster

-2 M3 screw (0,5cm)

-2 M3 spacers

-4 nuts

• Fit a screw into the S8 hole on the bottom fit a spacer, a nut, the caster and finish with another nut. Repeat the same process, but in the hole S11.

Gear Motor

• Responsible for the locomotion of Almir One.
• What do you need to snap it into the Frame:

-4 red supports

-4 M3 screw (3cm)

-4 nuts

-2 gear motors

• Fit a support into the SF door, place the motor with the end of the wires facing the caster, on the other side of the motor fit another support and finish with the screw (3cm) and the nuts. Repeat the same process, but in the hole SM.

Wheel

• Fit the motor shaft in the wheel.

Arduino One R3

• Control unit, responsible for control the Almir One.
• What do you need to snap it into the Frame:

-Arduino One

-2 M3 screw (0,5cm)

-2 M3 spacers

-2 nuts

• Fit one spacer into the S1 hole and another one into the S2 hole. On the underside fit the nuts on the spacers and on the upside fit the Arduino and finish with the screws.

H Brigde L298N

• Intermediate unit between Arduino and motors, which controls the motors based on Arduino instructions.
• What do you need to snap it into the Frame:

-2 M3 spacers

-2 M3 screw (0,5cm)

-2 nuts

-H Brigde

• Just like you placed the Arduino, start by fitting the spacers and the nuts into the S5 and S6 holes, on the underside. After doing that, on the upside fit the H brigde and finish with the screws.

Batteries Case and Batteries

• Power Supply
• Fit the four batteries on the case then with the help of the 3M double-sided tape stick the case on the underside of the frame.

Ultrasonic Sensor SR-04

• Sensor used to detect the obstacles.
• Fit the sensor into the SP1 and SP2 hole.

IR Sensor

• Infrared sensor used for follow the lines on the ground.
• What do you need to snap it into the Frame:

-2 screw (1cm)

-2 nuts

-2 IR sensors

• To fit the IR sensor position one sensor into the S12 hole and another one into the S13 hole fix them with the screws (1cm) and finish with the nuts.

On/Off switch

• It´s the component responsible for the controlling of the circuits.
• Fit the switch into the SL hole.

Jumpers

Folow the image above to link the jumpers on the right place.

Programing

I´ll provide the programming link below to facilitate the process.

https://github.com/un0038998/LineFollowerRobot/blob/main/LineFollowerRobot/LineFollowerRobot.ino

The picture up there it´s the circuit used on the OBR 2022, the OBR mission this year is characterized by rescuing vitctims of a disaster situation using robots in a simulated environment. The robot must be agile to overcome difficult periods (speed reducers); traverse paths where the line cannot be recognized (gaps); Dodge unknown elements (obstacles) and climb levels (ramps) to save victims (black and white spheres), transporting them to the safe region (rescue area) where humans can already take care.

Of course, you can make whatever adjustments you want to the robot so that it can do whatever you want, but once this instructables is just a base and an option to use for Arduino One.

I hope we have met all your expectations and if you guys have assembled the Almir One, please share ir with us, we would love to see more people reproducing our project and implementing new components to the robot!

If you need any help or have any questions, get in touch with us by gmail (ap3xxteam@gmail.com) or through our partners networks (https://linktr.ee/apexxteam_).