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倒立振子ステッピングモータ仕様 機体製作

https://blog.with2.net/link/?1965529

倒立振子ステッピングモータ仕様 機体製作

https://blog.with2.net/link/?1965529

いよいよ機体の製作にとりかかります。元機械技術者としてはもっとも楽しい時間です。

・回路図

その前に回路図です。これまでの試作回路をつなぎあわせて回路図を作成します。将来的に搭載したい距離センサーも含めてあります。ヘッドランプも機体が出来上がってから追加の予定です。なにしろ初めての要素がありすぎるのでまずは倒立からです。

DCDCコンバータで8Vに昇圧してモータドライバへの供給電圧としていますが必ずしも必要ではありません。安定した電圧を加えたほうが良いかと考えたのとたまたまコンバータが余っていたというだけです。

同じく5V電源も必ずしも必要ではなく元電圧7.4VをProMicroのRAWに加えても問題ありません。この場合5V電源はProMicroのVCCからとります。

・基板の製作

先に基板を作っておきます。回路図にしたがって基板を製作していきます。基板はサンハヤトのICB-288(47×70㎜)を使います。すべてのモジュールはソケット取付とし、基板に直接ハンダづけすることは避けます。こうしておくと不具合があればモジュール単位で簡単に交換できます。

写真の左側に電源回路、右側にモータードライバーを配置しました。マイコン、WiFi、ジャイロの各モジュールは中ほどに配置します。モジュール下の空きスペースに抵抗、コンデンサー類を配置します。

信号線を結線する前の裏面です。電源、GND配線は出来るだけ被覆配線を使いたくないのでかなり入り組んだ半田になっています。
信号ラインを配線するとこうなります。
すべてのモジュールを搭載した状態です。

・機体の製作

つぎに機体の製作にとりかかります。

おおまかな構成図です。上段に電源回路、中段には制御回路、最下段はモータということにします。

製作図です。

工作は3㎜厚のアクリル板を手加工で仕上げました。出来ればレーザカッター、すくなくとも卓上ドリル盤が欲しいところですが贅沢は言ってられません。

サイドパネルにモータを取り付けました。

次に車輪ですが今回一番悩んだパーツです。直径が60㎜近くて軽いものがなかなか見つからなかったのですがAliexpressに写真のような車輪がありました、なんでもドローン用らしいのですが直径60㎜あります。これを入手して2個を張り合わせて外周にOリングを接着しました。なかなか良い感じになりました。モータシャフト径が5㎜なのでドリルで追加工してあります。

これですべてのパーツが揃いましたので組み立てていきます。

車輪、基板を取り付けたプレートを組み立てます。

電源回路を取り付けます。倒立もしていないのに気が早いですが、後で取り付けるのも面倒なので距離センサーも取り付けておきます。

これで機体のほうは一応完成しました。

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