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倒立振子ミニマムサイズを作ろう

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

倒立振子ミニマムサイズを作ろう

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

オーディオ工作からまた倒立振子に戻ります。

倒立、走行、赤外線リモコンまでは一応確立できたので、次は小型化に挑戦してみようと思います。

小型化は現役時代からのテーマです。

小型化の手段として今の筆者の技術レベルで考えられる要素は以下のようなものです。

  • Arduinoの小型化(これは5月11日の記事で実現済み)
  • 小型モーターの選定
  • 電池の選定

まず小型モーターですが減速機付きのDCモーターについてネットを検索するとありました、AliExpressに6V駆動で200rpmという小型のものを見つけました。回転数もトルクもなんとか使えそうです。シャフトを除いた全長24㎜ですから車輪をつけても幅100mm以内で収まりそうです。早速2個を注文、2個で送料込で8ドル弱でした。

Description:
100% Brand New
Voltage: 6V
Revolving Speed: 200RPM
Motor Size: 12mm(diameter)*24mm(height)
Shaft Size: 3mm(diameter)*10mm(length)

つぎに電池の選定です。モータ定格6Vですからモータドライバでの電圧降下を考えると7Vは欲しいところです。充電式のCR123A(3.7V,1200mAh)、電池ホルダーと充電器をこれもアリババで購入。

つぎは車輪選びです。モータシャフト径3㎜に合う車輪ということでタミヤのスリムタイヤセット車輪径が36㎜を選択しました。シャフト径は六角3㎜に対応しているので、モータのシャフト径が3㎜ですので追加工すれば接続出来そうです。その後車輪はどこかで見つけた径30㎜のものに交換しています。

さて、リモコンをどうするかという問題です。ボタン式のリモコンでは操作性がいまいちです。ジョイスティック方式にしたいものです。Arduinoの世界でジョイスティックとなれば定番がこれです。

Wi-FiモジュールとしてnRF24L01を取り付けることができます。技適には対応していませんが一時的に試験する分には問題ないと思いますので使ってみます。

これでハードの選定はおおまかには終了したので、3次元CADのDesignMechanicalで構想図を描いてみます。

測距センサーをオプションで取り付けるようにしています。測距センサーはSHARP製のGP2Y0A2YKという定番の製品を使います。これで横幅90㎜です。

回路図はこうなります。

機体の工作に入る前に未経験要素を個別に試験しておかなければなりません。

Wi-Fiモジュールと5V,3,3Vの回路が未経験要素です。

次号以降でそれぞれ確認していきます。

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