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2. Build SMARTmBOT (Hardware)

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SMART Lab at Purdue University edited this page May 27, 2021 · 51 revisions

Introduction

In this tutorial, we explain about how to print 3D parts, solder the PCB layers, and put all together to build SMARTmBOT. We also introduce all the hardware parts needed to build SMARTmBOT.

The content of this tutorial is as follows:

  1. 3D-print SMARTmBOT frames

  2. Solder the PCB Layers

  3. Assembly

You can also read or download a PDF version of the SMARTmBOT Guide/Manual, and watch a full demo video of the SMARTmBOT at https://youtu.be/cn3vcqFgf90.

1. 3D-print SMARTmBOT frames

3D-print the following STL files to build the base frames and a case for SMARTmBOT.

Base:

Case:

2. Solder the PCB Layers

Please watch the following video demonstrating soldering the PCB layers for SMARTmBOT: https://youtu.be/hEa0x9cL72s.

First Layer

Parts required:

  • 2 rpr-220 optical sensors
  • 2 68k ohm resistors
  • 2 200 ohm resistors
  • 1 L293D motor driver
  • 1 MCP3008 SPI-ADC driver
  • 3 2-pin female JST connectors
  • 1 12-pin FFC cable connector

Steps:

  1. Place and solder the drivers in their respective positions and orientations.
  2. Place and solder the JST connectors.
  3. Place and solder the resistors.
  4. Place and solder the optical sensors. Be aware of the correct orientation.
  5. Flip the PCB and place and solder the FFC connector.

Second Layer

Parts required:

  • 8 90-degree, 6-pin female pin headers
  • 1 40-pin female pin headers
  • 2 20-pin female pin headers
  • 1 12-pin FFC cable connector

Steps:

  1. Place and solder the 6-pin headers. The pin headers should be pointing outwards.
  2. Place and solder the 40-pin header at the center of the board.
  3. Place and solder each of the 20-pin headers at both ends.
  4. Place and solder the FFC connector.

(Optional) Third Layer

Parts required:

  • 4 5050 LEDs
  • 2 20-pin male pin headers
  • 3 100 ohm resistors

Steps:

  1. Place and solder the LEDs. Be aware of the correct orientation, for not all 4 having the same orientation.
  2. Place and solder the 100 ohm resistors.
  3. Place and solder each of the 20-pin headers at both ends.

3. Assembly

Please watch the following video that demonstrates the assembly process in building SMARTmBOT: https://youtu.be/hEa0x9cL72s.

Parts required:

  • 1 FFC cable
  • 3 JST male cables
  • 8 5mm spacers
  • 4 10mm spacers
  • 1 Portable charger
  • 2 DC motors
  • 8 VL53L0X time-of-flight sensors
  • 1 RaspberryPi 4B
  • 20 M3 bolts and nuts

Steps:

  1. Attach JST male cables to each of the motors and the power source for the motors.
  2. Place the portable charger in the battery holder.
  3. Place the motors in the motor housing and attach the motor housing to the battery holder.
  4. Add wheels to the motors and wheel holders. Attach the wheel holders to the battery holder.
  5. Add 5mm spacers to the battery holder. Secure the 1st layer PCB on the spacers.
  6. Add 10mm spacers to the 2nd layer PCB.
  7. Secure the 2nd layer PCB on the top of the battery holder, aligning the PCB's square holes to the battery holder.
  8. Connect the 1st and 2nd layers using the FFC cable.
  9. Insert the time-of-flight sensors to the pin headers
  10. Mount the RaspberryPi to the 40-pin header
  11. Add 4mm spacers to the 3rd layer PCB.
  12. Connect the 3rd layer to the 2nd layer using the pin headers. Be aware of the GPIO pin alignments.
  13. Secure the outer case to the robot using the spacers on the 3rd layer.
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