Assembling the Crawler
PDF Instructions: miniROaCH_BOM
The assembly begins by building the origami body of the Kamigami Dash Robot. The Dash robot is sold as a kit for $99 and is available for purchase online. Each kit consists of one full body chassis. The bottom picture illustrates the parts required for the build and the picture, the following two pictures display the completed body build both in an isometric and top view. http://kamigamirobots.com/instructions The kit also contains electronics, motors, and a rechargeable battery.
Once the chassis has been assembled, the electronics of the robot can be modified, orientated and fastened. We begin by de-soldering the 4 motor wires and the battery from the original Kamigami PCB. In this experiment, the PCB provided in the kit is not used. When removing the battery it is very important to keep in mind that the battery can be shortened, therefore, precautions should be taken when performing this step. We proceed by clipping 2X black motor pins also known as rivets. The placement of the rivets are market in the middle picture down below with the use of red circles. The right picture depicts the clipping of one of the rivets.
By desoldering the motor wires and removing the 2 rivets the gear box is free to move and can be completely removed from the PCB as shown in the picture to the left. The PCB will no longer be part of the system.
The next step requires the soldering of a battery connector to the battery. A bracket was designed utilizing Autodesk Inventor. Since the beginning of the research, there have been 2 revisions performed on the electronics mount. Below are pictures that illustrate the changes made to each revision. Beginning with the original design (left), followed by revision A, and ending with the current design, revision B.
The next step in the process is to obtain the electronics mount and snap in the gearbox motor and also hot glue the battery to the frame. In the left picture shown below the most current mount is utilized. The right picture illustrates how the motor board is attached and soldered to the Raspeberry Pi Zero. The voltage regulator is soldered to PP1 and PP2 on the Pi Zero.
We then proceed to solder the battery connector to the gear box motor board and then soldering the 4 gearbox wired to the voltage regulator. The mount is then snapped onto the Kamigami chassis utilizing snap-in rivets to ensure a proper connection.
The crawler is then turned over (top to bottom) in order to have access to the gears. Once the transmission tab is located, it is attached to the gearbox by using a small amount of force to click the parts into place as illustrated below.
The mount for the electronics is then attached to the chassis by the use of 4 snap rivets and the Raspberry Pi Zero is then fastened by the use of 4X 4-40 x 3/8 hex screws and nuts. Once this is completed the wifi dongle and memory card are inserted into the Pi Zero. The voltage regulator is then attached to the battery with adhesive.
We used a custom camera mount that positions the camera facing down and at 1.5m above the center of the table. The component is connected to a computer. The model utilized for this research is the mvBleFlox-MLC USB 2.0 board-level camera. The specifications state that it has a high quality gray scale, color CMOS sensors, 8 Mpixels on-board memory, and LUT 10 bit to 8 bit. An enclosure was designed via the use of Autodesk Inventor. The models created were 3D printed and can be see in the figures shown below. The enclosure includes a circular extrusion that allows the camera to be mounted onto the camera platform.