This is the last post of this challenge. I am going to provide a list of the materials required to build Rullit and I am going to publish a final (partial) demo of Rullit at work
Bill of materials
Qty |
Description |
Notes |
Link |
|---|---|---|---|
| 1 | TE Robotics Sensor Connector M8, Male 4 positions, Cable mount (part# T4011019041-000) | ||
| 1 | TE Robotics Sensor Connector M8, Female 4 positions, Cable mount (part# T4010019041-000) | ||
| 1 | TE Robotics DYNAMIC D1000 SLIM, WIRE-TO-WIRE CONNECTOR, receptacle; 4 positions; 2 mm pitch key 1 (part# 1-2366515-4) | ||
| 1 | TE Robotics DYNAMIC D1000 SLIM WIRE-TO-WIRE CONNECTOR pin housing; 4 positions;2 mm pitch key 1 (part# 1-2366600-4) | ||
| 10 | TE Robotics DYNAMIC D1000 SLIM WIRE-TO-WIRE CONNECTOR crimp contact pin (part #2367819-2) | ||
| 10 | TE Robotics DYNAMIC D1000 SLIM WIRE-TO-WIRE CONNECTOR receptacle crimp contact (part# 2367817-2) | ||
| 1 |
TE Robotics DYNAMIC D1000 SLIM WIRE-TO-WIRE CONNECTOR receptacle; 8 positions; 2 mm pitch key 1 (part# 1-2366515-8) |
||
| 1 | TE Robotics DYNAMIC D1000 SLIM WIRE-TO-WIRE CONNECTOR pin housing : 8 positions, 2 mm pitch key 1 (part# 1-2366600-8) | ||
| 1 | TE Robotics CPC Series Circular Connector 4 pin contacts (part# 206153-1) | ||
| 1 | TE Robotics CPC Series Circular Connector 4 receptacle contacts (part# 206060-1) | ||
| 4 | TE Robotics CPC Type II Series 20 AWG pin contact (part# 201330-1) | ||
| 4 | TE Robotics Multimate Type II Series 20 AWG socket contact (part# 201328-1) | ||
| 1 | 10 mm thickness plywood (32 x 28 cm) | Chassis | |
| 1 | 10 mm thickness plywood (22 x 22 cm) | Water bucket platform | |
| 8 | 10 mm thickness plywood (8 x 8 cm) | Wheels spacers | |
| 2 | Pulley motors | Link | |
| 1 | Roller motor | Link | |
| 1 | 22 cm paint roller | ||
| 1 m | L-shaped 10 x 30 mm aluminum bar, 1 mm thickness | Bucket supports, roller frame | |
| 1 m | L-shaped 25 x 25 mm aluminum bar, 1 mm thickness | Roller frame | |
| 1 m | U-shaped 10 x 10 mm aluminum bar, 1 mm thickness | Adjustable bucket support | |
| 1 m | Round (diameter: 6 cm) aluminum bar | To be inserted into the paint roller | |
| 1 m | Round (diameter: 8 cm) aluminum bar | Watering pipe | |
| 2 | Hinge | ||
| 4 | Caster wheels | Wheel are about 6 cm in diameter | Link |
| 2 | 1:10 RC car shock absorber | ||
| 4 | Limit switches | Link | |
| 100 m | Dyneema rope | Link | |
| M4 bolts and nuts | |||
| M3 bolts and nuts | |||
| 1 m | 1/4" water pipe | ||
| 1 | 1/4" adapter | Link | |
| 1 | 5 litres bucket | ||
| 1 | Arduino Uno R3 | Link | |
| 1 | DFRobot DRI0017 shield | Link | |
| 1 | 2 Relay module | Link | |
| 1 | SSD1306 128x32 oled I2C display | Link | |
| 1 | Bluetooth module | Link | |
| 1 | Moisture sensor | Link | |
| 1 | 12V Solenoid valve | Link | |
| 1 | 12V 7Ah battery | ||
| 1 | Power switch |
3D-printed parts
Qty |
Description |
File |
|---|---|---|
| 1 | Case | Case.stl |
| 1 | Case cover | Cover.stl |
| 1 | Relay case (bottom) | RelayBottom.stl |
| 1 | Relay case (top) | RelayTop.stl |
| 4 | Limit switch support | SensorSupport.stl |
| 4 | Limit switch pad | SensorHead.stl |
| 1 | Shock absorbers washers | Washers.stl |
| 1 | Motor adapter (matches roller motor and the 6mm aluminum bar) | MotorAdapter.stl |
| 2 | Roller adapter (matches the 6mm aluminum bar and the 8mm roller hole) | RollerAdapter.stl |
| 2 | Pulley (top) | PulleyTop.stl |
| 2 | Pulley (bottom) | PulleyBottom.stl |
| 2 | M8 connector support | M8ConnectorSupport.stl |
| 1 | Watering pipe cap | Cap.stl |
| 1 | Moisture sensor support | MoistureSensor.stl |
Demo
Source code
Source code for Arduino and Android app are available in my github repository
The repo includes the following folders
- stl: STL files for the 3D printed parts
- Rullit: Arduino firmware (uses two motors, precise but draws a lot of current - see Rullit #5 - The software)
- Rullit2: Arduino firmware which uses a single motor at a time and has softstart - see Rullit #6 - The Software (update)
- RullitMon: Android app, to be used in conjunction with Rullit firmware. Created with Android Studio and API 26
- RullitMon2: Android app, to be used in conjunction with Rullit2 firmware. Created with Android Studio and API 26
- RullitTest: Arduino firmware to test peripherals
Final words
I would like to thank Element14 and TE Robotics for the opportunity to participate to this challenge. I has been challenging but very stimulating to cope with both mechanical and electronic design issues. Robotics is a very fascinating field, which can bring both great satisfactions and great disappointments (like, in this case, some magic smoke). The important thing is keep going and never give up. In the near future, I am going to improve some critical aspects of the design, namely
- replace blown DFRobot shield
- replace proximity switches with ultrasonic range sensors (limit switches have many problems when Rullit approaches obstacles and edges)
Thank you very much to all Element14's members and all the people who have read my posts!
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