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Minus-Type Vigibot Robot for Botkins

[HIDE SECTION]

Table of Contents

General Info

Learn more about Botkins Charity Project:

Learn more about Vigibot:

Basis is the Standard Vigibot Minus-Type (pictured), but with a LTE/4G stick and without lateral (side) arms

Standard Minus

  • If you'd like to build a robot for Botkins, contact us and we'll send you the Onboarding Process.
  • Let us know about any broken links or deficiencies (e.g. unclear or missing steps).
  • The maker can choose the 3D printed parts color.
  • Building your first robot may take about 10 hours, maybe more. After some practice, building may take about 3h per robot.
  • Some parts from aliexpress may take 5 weeks to arrive.

Prerequisites

You'll need:

  • Soldering iron (for 4x motors & UPS bridge). (if you prefer not to solder, maybe another maker could solder the parts for you).
  • Internet Access (SIM card with mobile data, WLAN or Ethernet LAN), PC.
  • 3D Printer currently not required.
  • Tools: Screwdrivers, adjustable / monkey wrench, tweezers, duct tape, ...

Partlist

[HIDE SECTION]

Core Parts

Power Distribution Board Parts

OLD: manually soldered PDB [Expand] - Find Build instructions and pictures on botkins cloud in /Hardware_Design/UPS_power_distribution/

Motor Base Parts

Head Parts

Gripper Parts

Optional Parts

Minus-Type Assembly

[HIDE SECTION]

1. Software Install

pi_cam

2. Vigibot Online Configuration

Remote controller Configuration

On Vigibot website click-> Management -> Wrench Icon (Remote controller configuration) -> Modifications made -> Form set to Text -> Replace existing {} with following code:

[SHOW CODE BLOCK] 
{
  "BUTTONS": [
    {
      "ICON0": "vide",
      "ICON1": "",
      "TEXT": "",
      "ACTION": "",
      "SPECIAL": ""
    },
    {
      "ICON0": "vide",
      "ICON1": "",
      "TEXT": "",
      "ACTION": "",
      "SPECIAL": ""
    },
    {
      "ICON0": "vide",
      "ICON1": "",
      "TEXT": "",
      "ACTION": "",
      "SPECIAL": ""
    },
    {
      "ICON0": "avancer",
      "ICON1": "",
      "TEXT": "Forward",
      "ACTION": "IncrementForward",
      "SPECIAL": "yp"
    },
    {
      "ICON0": "vide",
      "ICON1": "",
      "TEXT": "",
      "ACTION": "",
      "SPECIAL": ""
    },
    {
      "ICON0": "suivant",
      "ICON1": "",
      "TEXT": "Next tool",
      "ACTION": "NextTool",
      "SPECIAL": ""
    },
    {
      "ICON0": "sirene0",
      "ICON1": "sirene1",
      "TEXT": "Buzzer",
      "ACTION": "Switch2",
      "SPECIAL": "i2"
    },
    {
      "ICON0": "lumicont0",
      "ICON1": "lumicont1",
      "TEXT": "Maximize the brightness and contrast",
      "ACTION": "Switch3",
      "SPECIAL": "i3"
    },
    {
      "ICON0": "gauche",
      "ICON1": "",
      "TEXT": "Left",
      "ACTION": "IncrementTurnLeft",
      "SPECIAL": "zn"
    },
    {
      "ICON0": "stopper",
      "ICON1": "",
      "TEXT": "Click to stop or drag to drive",
      "ACTION": "Brake",
      "SPECIAL": "st"
    },
    {
      "ICON0": "droite",
      "ICON1": "",
      "TEXT": "Right",
      "ACTION": "IncrementTurnRight",
      "SPECIAL": "zp"
    },
    {
      "ICON0": "centrer",
      "ICON1": "",
      "TEXT": "Reset tools",
      "ACTION": "ResetTools",
      "SPECIAL": ""
    },
    {
      "ICON0": "vide",
      "ICON1": "",
      "TEXT": "",
      "ACTION": "",
      "SPECIAL": ""
    },
    {
      "ICON0": "vide",
      "ICON1": "",
      "TEXT": "",
      "ACTION": "",
      "SPECIAL": ""
    },
    {
      "ICON0": "vide",
      "ICON1": "",
      "TEXT": "",
      "ACTION": "",
      "SPECIAL": ""
    },
    {
      "ICON0": "reculer",
      "ICON1": "",
      "TEXT": "Backward",
      "ACTION": "IncrementBackward",
      "SPECIAL": "yn"
    },
    {
      "ICON0": "capture",
      "ICON1": "",
      "TEXT": "Capture the last seconds of video",
      "ACTION": "",
      "SPECIAL": "capture"
    },
    {
      "ICON0": "precedent",
      "ICON1": "",
      "TEXT": "Previous tool",
      "ACTION": "PreviousTool",
      "SPECIAL": ""
    },
    {
      "ICON0": "vide",
      "ICON1": "",
      "TEXT": "",
      "ACTION": "",
      "SPECIAL": ""
    },
    {
      "ICON0": "vide",
      "ICON1": "",
      "TEXT": "",
      "ACTION": "",
      "SPECIAL": ""
    },
    {
      "ICON0": "lock0",
      "ICON1": "lock1",
      "TEXT": "Unlink remote control and video",
      "ACTION": "",
      "SPECIAL": "switchlock"
    },
    {
      "ICON0": "osd0",
      "ICON1": "osd1",
      "TEXT": "Toggle OSD",
      "ACTION": "",
      "SPECIAL": "switchosd"
    },
    {
      "ICON0": "vide",
      "ICON1": "",
      "TEXT": "",
      "ACTION": "",
      "SPECIAL": ""
    },
    {
      "ICON0": "dodo",
      "ICON1": "",
      "TEXT": "Put on standby",
      "ACTION": "Sleep",
      "SPECIAL": ""
    },
    {
      "ICON0": "vide",
      "ICON1": "",
      "TEXT": "",
      "ACTION": "",
      "SPECIAL": ""
    },
    {
      "ICON0": "vide",
      "ICON1": "",
      "TEXT": "",
      "ACTION": "",
      "SPECIAL": ""
    },
    {
      "ICON0": "vide",
      "ICON1": "",
      "TEXT": "",
      "ACTION": "",
      "SPECIAL": ""
    },
    {
      "ICON0": "exit",
      "ICON1": "",
      "TEXT": "Restart the client process",
      "ACTION": "ExitRobot",
      "SPECIAL": "confirm"
    },
    {
      "ICON0": "reboot",
      "ICON1": "",
      "TEXT": "Reboot the system",
      "ACTION": "RebootRobot",
      "SPECIAL": "confirm"
    },
    {
      "ICON0": "poweroff",
      "ICON1": "",
      "TEXT": "Power off the system",
      "ACTION": "PowerOffRobot",
      "SPECIAL": "confirm"
    }
  ],
  "COMMANDS": [
    {
      "NAME": "Turret control",
      "CAMERA": 0,
      "MIXING": 0,
      "GAINX": 80,
      "GAINY": 80
    },
    {
      "NAME": "Gripper control",
      "CAMERA": 0,
      "MIXING": 1,
      "GAINX": 80,
      "GAINY": 80
    },
    {
      "NAME": "low bandwidth 250 Kbps",
      "CAMERA": 1,
      "MIXING": 0,
      "GAINX": 80,
      "GAINY": 80
    }
  ],
  "TX": {
    "COMMANDS16": [
      {
        "NAME": "Turret X",
        "INIT": 0,
        "SCALEMIN": -180,
        "SCALEMAX": 180,
        "MIN": -90,
        "MAX": 90,
        "CLAMPMIN": -20,
        "CLAMPMAX": 20,
        "SIGNED": true,
        "NBDIGITS": 2,
        "UNIT": "°"
      },
      {
        "NAME": "Turret Y",
        "INIT": 0,
        "SCALEMIN": -180,
        "SCALEMAX": 180,
        "MIN": -55,
        "MAX": 55,
        "CLAMPMIN": -40,
        "CLAMPMAX": 20,
        "SIGNED": true,
        "NBDIGITS": 2,
        "UNIT": "°"
      },
      {
        "NAME": "Gripper X",
        "INIT": 0,
        "SCALEMIN": -180,
        "SCALEMAX": 180,
        "MIN": -30,
        "MAX": 65,
        "CLAMPMIN": -20,
        "CLAMPMAX": 65,
        "SIGNED": true,
        "NBDIGITS": 2,
        "UNIT": "°"
      },
      {
        "NAME": "Gripper Y",
        "INIT": 0,
        "SCALEMIN": -180,
        "SCALEMAX": 180,
        "MIN": -40,
        "MAX": 80,
        "CLAMPMIN": 0,
        "CLAMPMAX": 45,
        "SIGNED": true,
        "NBDIGITS": 2,
        "UNIT": "°"
      }
    ]
  }
}

Hardware Configuration

On Vigibot website click -> Management -> Gear Icon (Hardware configuration) -> Modifications made -> Form set to Text -> Replace existing {} with following code:

[SHOW CODE BLOCK] 
{
  "CAMERAS": [
    {
      "TYPE": "",
      "SOURCE": 0,
      "WIDTH": 640,
      "HEIGHT": 480,
      "FPS": 30,
      "BITRATE": 1500000,
      "ROTATE": 0,
      "BRIGHTNESS": 50,
      "CONTRAST": -5,
      "BRIGHTNESSBOOST": 80,
      "CONTRASTBOOST": 100
    },
    {
      "TYPE": "",
      "SOURCE": 0,
      "WIDTH": 640,
      "HEIGHT": 480,
      "FPS": 30,
      "BITRATE": 250000,
      "ROTATE": 0,
      "BRIGHTNESS": 50,
      "CONTRAST": -5,
      "BRIGHTNESSBOOST": 80,
      "CONTRASTBOOST": 100
    }
  ],
  "COMMANDS8": [
    {
      "RAMPUP": 0,
      "RAMPDOWN": 0,
      "RAMPINIT": 0,
      "FAILSAFE": true,
      "SLEEP": true
    },
    {
      "RAMPUP": 15,
      "RAMPDOWN": 15,
      "RAMPINIT": 15,
      "FAILSAFE": true,
      "SLEEP": true
    },
    {
      "RAMPUP": 15,
      "RAMPDOWN": 15,
      "RAMPINIT": 15,
      "FAILSAFE": true,
      "SLEEP": true
    }
  ]
}

3. UPS Solder Bridge

ups_poff_1
  • A: Remove "POFF" solder bridge

ups_poff_2

4. Servo Plug Split

servo_assembly_1 servo_assembly_2 servo_assembly_3 servo_assembly_4
  • Split the signal (orange or white) wire off the 4x servos and 1x motor driver.

5. Power Distribution Assembly

pdb_assembly_1 pdb_assembly_2 pdb_assembly_3 pdb_assembly_4

  • Invert PH2.0 plug polarity (if necessary)
pdb_assembly_5
  • Stack UPS onto Raspberry Pi.

6. GPIO Wiring

wiring_assembly_1 pinout_ups wiring_assembly_3
  • A: Head pan [x] GPIO 5 (physical pin 29)
  • B: Head tilt [y] GPIO 6 (physical pin 31)
  • C: Gripper claw [x] GPIO 7 (physical pin 26)
  • D: Gripper tilt [y] GPIO 8 (physical pin 24)

wiring_assembly_5

  • A: ESC motor driver

    • left motors GPIO 26 (physical pin 37)
    • right motors GPIO 27 (physical pin 13)

  • Use the magnetic USB cable to power the UPS. (Note: from now on use the connector on the UPS board - not on the raspberry pi board)

  • Test control each servo from Vigibot.

  • Before proceeding, press Stop ■ button to center every servo, and unplug battery and USB power.

7. Motor Base Assembly

Middle plate assembly-1 Middle plate assembly-2
Middle plate assembly-3 Middle plate assembly-4
Middle plate assembly-5 Middle plate assembly-6
Middle plate assembly-7 Middle plate assembly-8
Middle plate assembly-9 Middle plate assembly-10

8. Head Assembly

Pan Turret Assembly

Pan turret assembly-1 Pan turret assembly-2

Tilt Turret Assembly

Tilt turret assembly-1 Tilt turret assembly-2

Pan & Tilt Turret Assembly

Pan + Tilt turret assembly-1 Pan + Tilt turret assembly-2

Camera Assembly

Camera assembly-1 Camera assembly-2

9. Gripper Assembly

Gripper assembly-1 Gripper assembly-2
Gripper assembly-3 Gripper assembly-4
Gripper assembly-5 Gripper assembly-6
Gripper assembly-7 Final assembly-1 Final assembly-2

10. Final Assembly

Final assembly-3 Final assembly-4
Final assembly-5 Final assembly-6
Final assembly-7 Final assembly-8
Final assembly-9 Minus render-1

11. Optional Assemblies

  • Metal Gear Servo Assembly

metal_servo_horn_1 metal_servo_horn_2

  • If you use DM-S0090MD metal gear servos for Head tilt [y] or Gripper tilt [y], the servo horn is a bit too long and has to be shortened. Doesn't fit for Gripper claw [x].

12. Additional Assembly Guides

Credits

  • Original Partlist: Vigibot
  • Assembly Renders: Narayan1986

About

Minus-Type Vigibot Robot for Botkins

www.botkins.ch/

Topics

robot hardware charity 3d-printing vigibot

Resources

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