Plataforma ZUMO (parte2)

A continuación detallaremos todo el montaje del robot, que lo dividiremos en dos partes:

  • Kit del robot Zumo.

  • Sensores de distancia Sharp.

Para realizar el montaje del kit Robot Zumo de la marca Pololu existe un bonito y útil manual para realizarlo, que es el siguiente: Pololu Zumo Shield for Arduino User's Guide . Siguiendo este manual se puede realizar el montaje pero hay que tener en cuenta una serie de detalles.

Para que sea más fácil os iremos poniendo fotos del montaje que hemos realizado nosotros con algunas advertencias o modificaciones:

Material principal para el montaje del robot.

Sacaremos los elementos de cada una de sus bolsas.

Seguidamente montamos el sensor de línea (Reflectance Sensor Array).

Necesitaremos además una tira de pins macho y 6 puentes. Una vez soldado queda de la siguiente manera:

A continuación realizamos el montaje de la Zumo Shield, soldando todos los elementos, tal y como está indicado en el manual.

 Hay que tener en cuenta varias cosas: la ubicación de los sensores de línea, la disposición de los puentes y la colocación de peines macho para las posibles ampliaciones (en nuestro caso vamos a conectar aquí algunas cosas). Además vamos a colocar pins hembra donde en el manual dice pins macho para poder colocar luego unos conectores macho entre esta placa y la Arduino y así separar las dos placas, porque sino hay componentes que se tocan.

En la imagen están mal soldado en conector para los sensores de línea, va como marca el recuadro y el manual).

Soldamos 8 pins hembra (4 a cada lado de los sensores de línea) en los pins GND y %V para poder alimentar a los sensores de línea.

A continuación montaremos el chasis del robot.

Soldamos los cables de los motores teniendo en cuenta la polaridad.

Montamos el chasis con la placa Zumo Shield. Es muy importante colocar bien las placas intermedias para realizar el aislamiento eléctrico de la placa Zumo Shield.

Una vez montadas se deben soldar los dos motores y colocar los tornillos para que todo quede apretado y poder poner las ruedas. Hay que tener en cuenta que hay que utilizar los tornillos más largos para los tornillos que hay cerca del interruptor y dos tornillo de M2x100 para la parte donde están los sensores de línea. Esto se debe a que no han tenido en cuenta el grueso de las placas intermedias y los tornillos no llegan bien. A continuación colocamos las 4 ruedas.

Posteriormente colocamos las orugas, la placa de los sensores de línea y la Sumo Blade (la chapa). Para poner la chapa delantera deberemos utilizar los tornillos de M2x100 que no viene en el kit, sino la chapa no se puede sujetar porque los tornillos son cortos.

A continuación cortamos con cuidado la conexión que hay en la placa Reflectance Sensor Array para poder direccionar de otra manera los sensores, ya que debemos dejar libre las entradas analógicas.

Después colocaremos los puentes y el cable que confeccionaremos con dos pins hembra tal y como se muestra en la imagen.

El otro extremo del cable lo colocaremos en la entrada digital 6. Colocamos los pins macho encima de los pins hembra para poder introducir la placa Arduino UNO.

 

A continuación colocamos la placa Arduino UNO y ya tenemos la primera parte del robot montada.

 

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