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倒立振子ステッピングモータ仕様 二号機を作る

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

倒立振子ステッピングモータ仕様 二号機を作る

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

始めて製作したステッピングモーター仕様倒立振子の出来のよさに味をしめて次号機を製作することにします。

テーマは小型軽量化です。なにしろ初めて使うステッピングモーターということで一号機は完成することだけを主眼にし、お手本にしたBROBOTの基本仕様を踏襲した結果、完成重量625gという堂々たる機体になってしまいました。DCモーターながら手のひらサイズ倒立振子を実現したからにはこちらも軽量小型化したいのです。

前号機の最重量部品は200gのモーターです。2個で400gと機体のほとんどを占めています。そこで今回は同じ日本電産サーボのなかでも軽量なKH39Fシリーズを使うことにします。重量は160gということなので80gほと軽量化できます。オリジナルマインド社にて一個480円と格安で販売されています。
小型化のためにモータ周りに電池を配置することにします。これで背は低く抑えることができます。電源の昇圧回路は不要なことは前号機の製作時に確認してありますので省略します。これで回路基板は一枚で製作することができます。ここまで構想がまとまったので早速三次元CADにて構想図を描いてみます。最近は実機製作よりもCADであれやこれやと構想を描いているほうが楽しくなってきています。
デザイン的には円筒型をイメージしています。幅100、高さ75、奥行75㎜の予定です。小型軽量化が今回の目的ですが、美しい機体をデザインするようにいつも心がけています。見た目に美しい製品は性能も良いが現役時代からのこだわりです。
・部品図
構想図をもとに図面を描いていきます。主要な構造部品はモーターを取り付けるサイドプレート2枚、基板を取り付けるベースプレート1枚の三点です。この他に補強のためのバーを3本追加の予定です。
・機体の工作
図面にしたがって工作です。厚さ3㎜のアクリル板から製作します。ただしサイドプレートの円板は手加工では難しいので東急ハンズにちょうど径70㎜のものがありましたのでそちらを購入しました。
後はいつもどおりのハンドドリルにルーターとヤスリというローテク加工です。ハンドドリルで垂直に穴明けはいくらやっても難しいです。
途中省略で、完成したモーター組立部分です。
つぎに基板を作ります。
その前に回路図です。
Wi-Fiモジュールは技適適合しているESP-WROOM02と未適合のESP-01のどちらかを搭載できるようにしてあります。
・基板の製作

基板の製作にとりかかります。基板寸法は47×66㎜の予定です。モジュールはいつものようにソケット取付にして細かな部品はその下に配置としてスペースを稼ぎます。

裏面です、今回より信号線には0.6㎜のラッピング線を使っています。これまで1.2㎜の被覆線を使ってきましたが、さすがに取り回しが大変になってきたので変更しました。非常に楽に配線できます、なんで早くから使わなかったのか不思議です。
各モジュールを取り付けた状態です。
・機体の組立
モーターアッセイに電池ケース、ヘッドランプ、基板を取り付けます。

補強のために5㎜径の丸棒を加工してバーを3本取付ました。

車輪はタミヤのスリムタイヤセットの55㎜径を使いますが、シャフト径が3㎜なのでこれを5㎜に広げます。ハンドドリルではなかなかセンターを出すことが困難です。
Signal Lumpを補強バーに取付て完成です。
裏面です。なんだか車輪がいびつです。センターがうまくでていないようです。
・試運転
sketchは前号機のものをそのまま流用します。
試運転です。センターのでていない車輪が変ですが走行には問題なさそうです。
いい走りをしています。

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