Self balancing wheeled robot with auto-righting arms lofted high

A Self Righting Balancing Robot Configured The Easy Way

December 13, 2021 by Dave Rowntree 2 Comments

Norwegian electronics hacker [Hans Jørgen] aka [time expander] on YouTube, has a clear interest in robotics, and for his latest effort, decided that it was time to build a custom controller platform. Since [Hans] had a pile of Dynamixel servo motors lying around to test it with, a good first project for the platform was a simple self-balancing wheeled robot. (Video, embedded below)

We say ‘simple’ but that isn’t really the case, as there is a fair bit going on to get this to work. The first problem, is sensing, which was quickly solved with the excellent BMO055 IMU chip. Next, what to do when it falls over? Simply adding some servo-controlled arms, allowed the robot to flip itself back upright. Control is covered with a ESP32-WROOM-32D module from our friends at Espressif, which enables remote firmware uploading over the air (OTA update) as well as parameter tuning. In order to implement the latter, [Hans] chose to use bonjour/mDNS which is an implementation of zero-configuration networking. This gets the ESP32 onto the WiFi, but it isn’t immediately obvious how to connect to it, without a little digging around. To simply connection, [Hans] implemented a dynamic QR code via the connected OLED. This is just one of the those tiny 0.96″ displays that you see touted all over our corners of the internet.

Simply by scanning the QR code with any compatible device to hand brings up a simple configuration web page, allowing one to tweak the PID controller parameters, and get that balancing robot into check. Great stuff!

The PCB was designed in Eagle, firmware for the ESP32 is available, 3D models for the plastic are designed with fusion 360, and [Hans] is even currently working on some preliminary Alexa integration. What a fun project!

All the above, albeit an early cut (look out for bugs!) is available on the project GitHub for your viewing pleasure.

We’re no stranger to self-balancing 3D-printed bots, whilst you’re here, why not checkout A problematic Self-Balancing Sonic the Hedgehog? If wheeled bots aren’t your cup-of-tea, there’s a not-at-all freaky one-legged bouncing bot that may be of interest.

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An Open Source Detector For Identifying Plastics

December 13, 2021 by Tom Nardi 19 Comments

One of the challenges involved in recycling plastic is determining the specific type of plastic a given item is actually made of. To keep up with demand, large scale recycling centers rely on various automated systems to separate different types of plastic from a stream of incoming material. But in less technologically advanced parts of the world, workers can find themselves having to manually identify plastic objects; a time consuming and error-prone process.

To try and improve on the situation, [Jerry de Vos], [Armin Straller], and [Jure Vidmar] have been working on a handheld open hardware device that they refer to simply enough as the Plastic Scanner. The hope is that their pocket-sized unit could be used in the field to positively identify various types of plastic by measuring its reflectivity to infrared light. The device promises to be very easy to operate, as users simply need to bring the device close to a piece of plastic, push the button, and wait for the information to pop up on the OLED display.

Or at least, that’s the idea. While the team eventually hopes to release a kit to build your own handheld Plastic Scanner, it seems that the hardware isn’t quite ready for production. The most recent work appears to have been put in, not unexpectedly, the development board that lets the team refine their process. The development unit combines an array of IR LEDs with wavelengths ranging from 850 to 1650 nanometers, a InGaAs photodiode connected to an ADS1256 24-bit analog-to-digital converter (ADC), and an Arduino Uno. In comparison, the final hardware uses a Raspberry Pi Zero and a smaller “breakout board” that contains the sensor and IR LEDs.

Browsing through the software repository for the project, we can see the device uses Python, TensorFlow Lite, and a database of IR reflectivity values for known plastics to try and determine the closest match. Obviously the accuracy of such a system is going to be highly dependent on the quantity of known-good data, but at least for now, it appears the user is responsible for building up their own collection or IR values.

As interesting as this project is, we’re a bit skeptical about its purely optical approach to identifying plastics. Automated recycling centers do use infrared spectroscopy, but it’s only one tool of many that are employed. Without additional data points, such as the density or electrostatic properties of the plastic being tested, it seems like the Plastic Scanner would have a fairly high margin of error. Just taking into account the wide array of textures and colors the user is likely to encounter while using the device will be a considerable challenge.

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USB LED Christmas Tree Is Making Spirits Bright

December 13, 2021 by Kristina Panos 9 Comments

[Piotr SB] knows there is no way out of the holidays; the only path is through. You’ve got to find cheer wherever and however you can, so why not cater to your own interests and build the cutest little LED Christmas tree you ever did see? And did we mention it’s USB and absolutely free (as in carols, not eggnog)?

This O-Christmas tree is made up of concentric rings that are built into a tier as you solder the LEDs. And of course you’re supposed use the LED legs as supports! One leg from each LED — 18 green and a red one for the top. Because the PCB is not quite thick enough, you’ll need to add a plastic spacer to get it to stay in the USB port. Not only is this a nice design, the snowflakes and snowman on the silkscreen totally seal the cuteness deal.

Ever get so frustrated with your Christmas tree that you want to just empty a few rounds into the thing? No? Well, you’d have a good reason to if you built this Duck Hunt ornament.

Ask Hackaday: Are Extruders The Only Feasible Tools For Toolchanging?

December 13, 2021 by Donald Papp 35 Comments

Toolchanging in 3D printers is no longer something from the bleeding edge; it’s going mainstream. E3D has a high-quality kit for a toolchanger and motion system, our own Joshua Vasquez has shared details about the open-source toolchanging Jubilee design, and just recently Prusa3D formally announced the Prusa XL, which promises toolchanging with up to five different extruders.

It’s safe to say toolchanging on 3D printers has stepped to the front, but what comes next? What kind of tools other than extruders make sense on a 3D printer?

First, let’s explain what makes separate extruders such fantastic tools. Being able to change extruders on-demand during a print enables things like true multi-material printing. Printing in more than one color or material will no longer be done by pushing different filaments through a single nozzle, which limits a print to materials that extrude under similar conditions and temperatures. Toolchanging means truly being able to print in multiple materials, even if they have different requirements, because each material has its own extruder. That’s a clear benefit, but what about tools other than extruders?

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Design For Test Hack Chat

December 13, 2021 by Dan Maloney 3 Comments

Join us on Wednesday, December 15 at noon Pacific for the Design for Test Hack Chat with Duncan Lowder!

If your project is at the breadboard phase, or even if you’ve moved to a PCB prototype, it’s pretty easy to know if it works. It either does what it’s supposed to do, or it doesn’t, and a few informal tests will probably tell you all you need to know. But once you scale up to production, the testing picture becomes quite different. How do you know you’re not shipping out a problem? And how do you make sure your testing process doesn’t become a bottleneck?

Answering questions like these can be difficult, which is why we’ve invited Duncan Lowder to come talk with us. He was a test lead at places like Glowforge and Sphero before founding FixturFab, where he’s working on ways to make hardware testing as easy as possible, no matter what scale you’re working at. We’ll learn all about how to make our designs easy to test right from the get-go and take the pain out of that bed of nails.

Our Hack Chats are live community events in the Hackaday.io Hack Chat group messaging. This week we’ll be sitting down on Wednesday, December 15 at 12:00 PM Pacific time. If time zones have you tied up, we have a handy time zone converter.

Adding Wire Races Improves 3D-Printed Bearings

December 13, 2021 by Dan Maloney 38 Comments

Like a lot of power transmission components, bearings have become far easier to source than they once were. It used to be hard to find exactly what you need, but now quality bearings are just a few clicks away. They’re not always cheap though, especially when you get to the larger sizes, so knowing how to print your own bearings can be a handy skill.

Of course, 3D-printed bearings aren’t going to work in every application, but [Eros Nicolau] has a plan for that. Rather than risk damage from frictional heating by running plastic or metal balls in a plastic race, he uses wire rings as wear surfaces. The first video below shows an early version of the bearing, where a pair of steel wire rings lines the 3D-printed inner and outer races. These worked OK, but suffered from occasional sticky spots and were a bit on the noisy side.

The second video shows version two, which uses the same wire-ring race arrangement but adds a printed ball cage to restrain the balls. This keeps things quieter and eliminates binding, making the bearing run smoother. [Eros] also added a bit of lube to the bearing, in the form of liquid PTFE, better known as Teflon. It certainly seemed to smooth things out. We’d imagine PTFE would be more compatible with most printed plastics than, say, petroleum-based greases, but we’d be keen to see how the bearings hold up in the long term.

Maybe you recall seeing big 3D-printed bearings around here before? You’d be right. And we’ve got you covered if you need to learn more about how bearings work — or lubricants, for that matter.

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Mining And Refining: From Red Dirt To Aluminum

December 13, 2021 by Dan Maloney 29 Comments

No matter how many syllables you use to say it, aluminum is one of the most useful industrial metals we have. Lightweight, strong, easily alloyed, highly conductive, and easy to machine, cast, and extrude, aluminum has found its way into virtually every industrial process and commercial product imaginable.

Modern life would be impossible without aluminum, and yet the silver metal has been in widespread use only for about the last 100 years. There was a time not all that long ago that aluminum dinnerware was a status symbol, and it was once literally worth more than its weight in gold. The reason behind its one-time rarity lies in the effort needed to extract the abundant element from the rocks that carry it, as well as the energy to do so. The forces that locked aluminum away from human use until recently have been overcome, and the chemistry and engineering needed to do that are worth looking into in our next installment of “Mining and Refining.”

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