MAKER:Shebin Jose Jacob, Nekhil／Translated by: Fun Endless
Emo is a personal companion robot that combines fashion and innovation. Its birth is inseparable from the latest Raspberry Pi 4 technology and advanced design. It is not just a robot, but a living being. Unlike other robots, it has a unique personality and emotions that can capture your heart.
Hardware
– Raspberry Pi 4B– Micro Snow 2-inch IPS LCD display (240×320 resolution)– SG90 servos ×2– MG90 servo– 16-channel 12-bit PWM servo driver board– 801S vibration sensor module– Single-channel TTP223 touch sensor module– 8 Ω 0.5 W speaker module– PAM8403 dual-channel stereo audio amplifier module– 5 x 7 cm double-sided universal PCB prototype board– 40-pin 2.54 mm straight plug pin header connector (separated pin seat)– 304 stainless steel CSK countersunk cross bolt M2×10– M3 x 10 mm CHHD bolt nut set– M3 x 20 mm CHHD bolt nut set– B-30-1000 circuit board flying wire (with PVC insulated outer layer)– 2mm thick acrylic board
Software
– Autodesk Fusion 360– Microsoft VS Code
Tools
– Multifunctional screwdriver– Electric soldering iron– Lead-free solder wire– Circuit board welding fixture– Flux– Multifunctional wire stripper– Hot glue gun
Design Concept
We used Autodesk Fusion 360 to design the Emo robot, incorporating both solid and freeform modeling techniques.
To simplify the printing process, we divided the robot’s body into several parts for easy assembly with screws.
We carefully considered the position of the power supply, placing it on the base and leaving ample space for the power cord to move freely. To enhance the robot’s stability during movement, we also made the body slightly contact the base.
Additionally, we specifically chose a blue and white color scheme because the blue and white combination enhances the robot’s visual appeal.
3D Printing
We chose PLA as the 3D printing material and printed each component separately, which took a long time.
To enhance the durability of the base, we set the fill density of the base to 40%, while other parts were set to 20%.
Now that we have printed all the parts, let’s follow my steps to start assembling!
Note: 3D drawings and code can be found in the project file library: https://make.quwj.com/project/464
Assembling the Base
First, we will install the Micro USB module on the base, which will serve as the power supply interface for the robot.
We will place the SW-420 vibration sensor near the USB module; it can detect any vibrations occurring around the robot.
The base consists of the following three wires: VCC, GND, and the output wire of the vibration sensor.
Finally, we securely fasten the cover to the base using M3 x 10 mm bolts. Thus, we have completed the assembly of the base.
Assembling the Head
To give the robot’s head touch capability, we used a compact capacitive touch sensor and perfectly embedded it in the designated area.
The core component of the robot’s head is a Micro Snow 2-inch IPS display, which plays a crucial role in conveying the robot’s emotions. We secured this display with a black bracket and a small amount of hot melt glue.
To achieve audio playback functionality, we integrated an 8 Ω 0.5 W speaker on the left side of the head, paired with a PAM8403 amplifier to amplify the sound from the Raspberry Pi.
Next, we firmly attach the lower half of the head to the robot’s body using M3 x 15 mm screws. Then, we connect the previously assembled upper half of the head, completing the entire head assembly.
Assembling the Body
In the body part, we installed three servos: two SG90 servos for the hands, and one MG90 servo for body rotation. To conveniently control these servos, we used the PCA9685-16 channel servo driver.
To ensure stability, we also fixed the MG90 servo to the front of the body using M2 nuts and bolts.
We placed the PCA9685 module in the same area to effectively balance the gravity.
Now we begin to assemble the robot’s hands. Simply install the SG90 servos at both ends and secure them firmly to the servo shaft to complete the assembly.
We use a prototype board with female headers to connect the Raspberry Pi, which is more efficient than using wires. At the same time, by soldering, we ensure the correct connection of each component, thus minimizing the possibility of wire entanglement.
To save space, we use a male USB Type-C board from a phone charger to power the Raspberry Pi. For audio transmission, we used a TRS audio jack.
Finally, we secure the Raspberry Pi to the back of the body with bolts, completing the power supply installation.
Moreover, we used a 2 mm thick transparent acrylic board on the front, which can cover the gap between the outer cover and the LCD module.
Wiring
Wiring diagram as follows:
Programming
Next, we begin writing the code to generate emotions, where servo movements and animations are the core parts. To achieve these complex functions, we use Python’s `multiprocessing` package, which allows the robot to perform multiple tasks simultaneously, improving operational efficiency.
We have already written the project code for you, and you just need to clone it to your local machine to use.
git clone https://github.com/CodersCafeTech/Emo.gitIt is worth mentioning that we used Adobe After Effects software to create animations and exported them as image sequences, making it easier to integrate into the entire system.
Debugging
After completing the programming, we need to test all components to ensure the robot operates correctly.
First, install the required dependencies:
pip install adafruit-blinka adafruit-circuitpython-servokitEnter the code folder (Code) and execute the following command to start the program:
python3 final.pyYour Emo robot is now up and running! When you say something to it, it will analyze your tone and display the corresponding expression on the screen.
Results
The moment to witness the miracle has arrived!
via https://www.hackster.io/coderscafe/emo-your-personal-companion-robot-dc8afe
Click the link in the text to read the original article at the end
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