Project files
README.md
Machine-translated by Robotheca from the original in Japanese (opens in a new tab). License: MIT (opens in a new tab).
PicomniRover Support Repository
What is this?
This repository collects information about "PicomniRover," an omnidirectional mobile robot built following "Easy! How to Build an Omnidirectional Mobile Robot" from the activity report "Yaruki Denai-nz Katsudō Hōkokusho vol.1," distributed at Comic Market 107.
Parts list to purchase
Here we summarize the commercially available parts you need to buy. I used the following three suppliers.
- Akizuki Denshi Tsusho - https://akizukidenshi.com/ (opens in a new tab)
- Robot Shop (Vstone) - https://www.vstone.co.jp/robotshop/ (opens in a new tab)
- MonotaRO - https://www.monotaro.com/ (opens in a new tab)
All listings assume online purchase, but items such as screws can also be substituted at a local hardware store. Please choose whichever method is most convenient for you.
Also, the robot built in this doujinshi requires six rechargeable AA nickel-metal hydride batteries (nominal 1.2 V) to operate. Please prepare AA rechargeable NiMH batteries with a nominal voltage of 1.2 V, such as Panasonic eneloop or Sony CycleEnergy. Do not use 1.5 V alkaline dry cell batteries.
Available from Akizuki Denshi Tsusho
| Product name | Quantity (used) | Unit price (purchase unit) | Purchase link |
|---|---|---|---|
| Raspberry Pi Pico W | 1 | ¥1,200 | link (opens in a new tab) |
| BNO055 9-axis sensor fusion module kit / AE-BNO055-BO | 1 | ¥2,450 | link (opens in a new tab) |
| FEETECH serial bus servo STS3215 7.4V 14.4kg・cm 1:147 | 3 | ¥2,780 | link (opens in a new tab) |
| Ultra-high-efficiency DC-DC converter (3.3V 0.5A) M78AR033-0.5 | 1 | ¥380 | link (opens in a new tab) |
| Battery box 3 × AAA with lead wires / BH-331-3A | 2 | ¥70 | link (opens in a new tab) |
| XT30 connector, male, for PCB mounting XT30PW-M | 1 | ¥70 | link (opens in a new tab) |
| XT30 connector, female XT30U-F | 1 | ¥50 | link (opens in a new tab) |
| Pch MOSFET 2SJ496TZ-E (60V 5A) | 1 | ¥90 | link (opens in a new tab) |
| Electrolytic capacitor 100μF 25V 105℃ Rubycon PX/25PX100MEFC5X11 | 1 | ¥10 | link (opens in a new tab) |
| Multilayer ceramic capacitor 3.3μF 50V X7R 5mm / RDER71H335K3K1H03B | 1 | ¥50 | link (opens in a new tab) |
| Carbon resistor (carbon film resistor) 1/4W 1kΩ / CF25J1KB | 1 (100 per bag) | ¥100 | link (opens in a new tab) |
| Carbon resistor (carbon film resistor) 1/4W 3.3kΩ / CF25J3K3B | 2 (100 per bag) | ¥140 | link (opens in a new tab) |
| Pin header 1×40 (40P) / PH-1x40SG | 2 | ¥35 | link (opens in a new tab) |
| Pin header (L-shaped) 1×6 (6P) / PH-1X6RG(2) | 1 | ¥10 | link (opens in a new tab) |
| Breakaway long pin socket 1×42 (42P) / FHU-1x42SG | 2 | ¥80 | link (opens in a new tab) |
| Total | ¥13,260 |
Available for purchase from robot shops
| Product name | Quantity (used) | Unit price (purchase unit) | Purchase link |
|---|---|---|---|
| 48mm omni wheel (hex hub compatible) (14038) | 3 | ¥715 | link (opens in a new tab) |
| Total | ¥2,145 |
モノタロウで購入可能なもの
| 商品名 | 数量(使用数) | 単価(購入単位) | 購入リンク |
|---|---|---|---|
| 六角穴付ボルト(ステンレス) 全ねじ M3×10mm | 6個 | ¥681 (55個/袋) | リンク (opens in a new tab) |
| 六角穴付ボルト(ステンレス) 全ねじ M3×12mm | 4個 | ¥802 (54個/袋) | リンク (opens in a new tab) |
| 六角穴付ボルト(ステンレス) 全ねじ M3×30mm | 3個 | ¥659 (25個/袋) | リンク (opens in a new tab) |
| 六角ナット1種 ステンレス M3 | 14個 | ¥175 (50個/袋) | リンク (opens in a new tab) |
| 平ワッシャー ステンレス M3×8×0.5 | 6個 | ¥99 (50個/袋) | リンク (opens in a new tab) |
| 合計 | ¥2,416 |
3D-Printed Parts
This section lists the parts that need to be printed on a 3D printer. The parts introduced here do not need to be printed if you purchased the "Robot Parts Set" distributed at C107.
The printing environment used is as follows:
- Printer: Bambu Lab A1 mini
- Nozzle diameter: 0.4mm
- Preset: 0.20mm Standard @BBL A1M
- Filament: eSUN PLA+
| Part name | STEP file | Quantity | Notes |
|---|---|---|---|
| Body | STEP/body.step | 1 | Print only the first layer at 30mm/s |
| Motor bracket | STEP/motor_bracket.step | 3 | |
| Wheel mount 1 | STEP/wheel_mount1.step | 3 | |
| Wheel mount 2 | STEP/wheel_mount2.step | 3 | |
| PCB spacer | STEP/pcb_spacer.step | 4 |
About the board
The shield board used in the doujinshi was designed in KiCad 9.0.6, and manufacturing was ordered from JLCPCB.
The complete project files are in KiCad/PicomniRover (PicomniRover.kicad_pro / .kicad_pcb / .kicad_sch), and the Gerber data for production is bundled in KiCad/PicomniRover/jlcpcb/production_files/GERBER-PicomniRover.zip.
The circuit diagram is as follows.
License
MIT License
Files by @eyr1n, at commit cc992a0, read from GitHub in your browser. Hardware license: MIT; software license: MIT. Robotheca doesn't review code: read it before running it.