2D actuator move micro robot in X/Y 2D space

Description

Great for physical education for languages like Karel and make
SKOBAN game or solve LEGO labyrinth.

My project not violating SRI international patent
(maybe, I am not patent expert)

There is differences:

- I am using another moving track configutation
- Control is 3-phase unipolar against 4-phase bipolar
- My manipulator (mBot) use 4 magnets and not levitating
- For move in one dimension I need only 3x Mosfets connected to any MCU
(Arduino Atmega328, Stm32, MSP430, ESP XXXX)
- 6 GPIO to move in X/Y 2D space
- Moving board can be produced in any fab, it is just only PCB board 8/8mil
- IT IS CHEAP

Details

Hackaday article about this project https://hackaday.com/2018/05/22/smiling-robot-moves-without-wires/

2019 - touch control

Button control

This prototype is designed with atmega328 but I thinking about SAMD21
( 3 ways for programming Arduino, Circuitpython, Makerscode)

At first sight it is very simple but I have doubt, there is absolute no other videos, no similar projects
why? where is problem?
Board is designed as 3 phase linear coils switched with mosfets

What next?

TO DO:

- NFC comunication with bot ?

- feedback, where is wall, object

- manipulation with objects, make gripper?

- home position sensor

- rotation corner

I am very impressed with this video

Files

MAGNEBOT2.sch

experiment with rotating corner

sch - 1.15 MB - 04/23/2018 at 18:57

Download

MAGNEBOT2.BRD

experiment with rotating corner

brd - 138.60 kB - 04/23/2018 at 18:57

Download

MAGNEBOTd21.sch

sch - 1.14 MB - 04/23/2018 at 18:56

Download

MAGNEBOTd21.BRD

brd - 122.71 kB - 04/23/2018 at 18:56

Download

MAGNEBOT328RTMX.sch

sch - 1.12 MB - 04/23/2018 at 18:55

Download

Components

1 × PCB with moving tracks Main part and very easy replicate in any PCB fab

4 × 1mm or 2mm magnet for robot Untested now, magnets are on way, tested with 5mm and result is good

1 × Controller board not finished now but it is only simple 6 MOSFETS connected to arduino

Project Logs

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For MacroFab Design Contest: Useless Machine
bobricius • 07/31/2019 at 22:13 • 0 comments

With this project you can not make nothing useful.
New magneboot board with touch controll
bobricius • 12/19/2018 at 14:26 • 4 comments

Of course again LEGO compatible holes for easy make maze ;)
Ordered magnetBots
bobricius • 05/18/2018 at 08:23 • 0 comments

I designed about 8 types of bots with precise magnet aliment.
Also with 0,8mm and 1,6mm thicknes and with 4layers coil.
D21 touch controller / driver
bobricius • 05/15/2018 at 12:38 • 0 comments

SAMD21 (arduino zero) controller / driver board
6 power outputs
5 touch buttons
Hi res PCB in factory - ONE WEEK TO NEXT TEST
bobricius • 05/10/2018 at 22:44 • 1 comment

New board finished, I am decided for separated controller board. I think new board is much better designed only one moving track is divided with vias and also I doubled vias for highher current.
Board is only 0.6mm thick to improve force of bottom moving track.
ONE WEEK TO TEST
NEW bigger and Hi-res platform
bobricius • 05/10/2018 at 13:33 • 3 comments

New moving platform with 1mm precision.
Microbot - Button control - WORKING !!!
bobricius • 05/04/2018 at 22:07 • 0 comments

Just I waiting for smaller magnets, but it is GREAT !!!!!
SRI INTERNATIONAL patent
bobricius • 05/04/2018 at 13:10 • 3 comments

Finally I found SRI INTERNATIONAL patent with description https://patents.google.com/patent/US8593016B2/en
My solution is little different, I am using another pattern for movements also my design is 3 phases uni-polar against they 4 phases bi-polar design. They design is very energy effective because they have levitating manipulators over
pyrolytic graphite.
I searching samples of pyrolytic graphite.sheets, but without success now.
First test
bobricius • 04/30/2018 at 20:03 • 0 comments

I think there is high probability to sucess
Waiting for mosfets and 2mm magnets ...

View all 9 project logs

Build Instructions

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PCB

Almost all magic is in pcb structure, buy/order board

Componets

Solder all components on to PCB

upload test code

Discussions

1903152960 wrote 04/03/2023 at 07:31

how to solve the heat problem

Are you sure? yes | no

rainer wrote 03/06/2023 at 10:01

Great project, have many ideas to use it on my model railways.

Is the code for the 328 also available?

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Tom wrote 03/20/2021 at 10:12

Fantastic project, do you have any update?

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malcolm mckean wrote 02/01/2021 at 22:52

Hi, wondering if it's possible for this to be done on a larger scale, for example would a 30 x 30 cm grid be possible?

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Julio Cesar Zebadua wrote 06/02/2020 at 21:45

Excellent project. Is there the option to obtain the code to build my own?

Are you sure? yes | no

Trevor Johansen Aase wrote 05/16/2019 at 17:56

Any ideas on how to implement multiple zones? In the SRI video is kind of looks like they are set up in individual strips or with seperate "parking zones" but in the first example in the video with two moving at once this is not the case.

It also appears they are using copper or foil tape over the PCB, I don't see a lot of the magical diamagnetic graphite (must be crazy expensive in those sizes), I would think it would even out the fields. Have you tried to see what the copper tape would do?

Have you tried the zig-zag trace pattern? It'is mentioned that its an easier control mechanism. Have you tried PWM on the FETs to try out speed control?

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bobricius wrote 05/19/2019 at 20:48

You can read SRI patent, it is public. 0.6mm board is to fat, I want try on flex or 0.2mm

I am working on may projects now I have untested new boards. microstepping not working... only half step. I using 20-30PWM to KEEP TRACK feature ... (etc ... when moving on X, enegizing Y lines to 20% to better movement stability)

Are you sure? yes | no

Bryan wrote 05/10/2019 at 22:50

Sooooo many possibilities here! At the simpler, fun level, some games could be made, like the old classic, Pong. With LEDs on the edge of each side for "paddles". Each side could have a left and right button, to move the LED paddle. Would probably need a shift register to reduce the amount of outputs needed, and something to sense if the paddle got there in time to hit the "ball". But the possibilities are enormous for this. Awesome job!

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Meek The Geek wrote 05/09/2019 at 21:08

I would like to see this used in a braille display

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vlk wrote 03/26/2019 at 09:58

you can make a sokoban game!

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miro2424 wrote 06/27/2018 at 12:57

Hey, when the new PCB board is coming? Waiting to see your new video with the touch controller.

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bobricius wrote 06/27/2018 at 13:21

I am exhausted with other projects, 1-3 weeks. I need redesign moving matrix.

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hyperzap wrote 05/21/2018 at 03:53

This is awesome!! Any chance you can render the schematic as an image for KiCad peeps like me :) I'm also a little confused as to how the matrix of fields works. From what I can tell, you turn on a bunch of lines at once, but the bot is most attracted to the closest one?

Also, what are your trace widths and separation for the coils :)

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ken.do wrote 05/10/2018 at 18:58

Great project! Very cool

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Ed0 wrote 05/06/2018 at 15:46

I also tried replicating the SRI patent but had problems with the magnets. In retrospect I should actually measure them and make sure they are strong enough for it to work.

Also see http://spritesmods.com/?art=magnmicrobots&page=2

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miro2424 wrote 05/05/2018 at 22:05

Nice! Instead of making a ouija board, I would suggest to make a watch based on this technology.

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bobricius wrote 05/05/2018 at 22:23

It is my first non watch project :)

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ken.do wrote 05/10/2018 at 18:58

Can I get this... as a watch? :P

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Jarrett wrote 05/04/2018 at 22:13

Very cool. What kind of voltage/currents are you using for the electromagnets?

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bobricius wrote 05/04/2018 at 22:23

I am sorry, I have broken lab ampere-meter. Standard 5V 2A phone charger.

USB tester show consumption 2.3A 9W ... voltage drop to 4V On move only.

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danjovic wrote 05/03/2018 at 23:16

Hmm... now that I notice that it resembles an ouija board. Have you consider doing a halloween version?

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bobricius wrote 05/04/2018 at 05:45

:D or Jumanji 3

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bobricius wrote 05/02/2018 at 19:14

on video I directly connecting 5V adapter.

I repeat on board 3 coils, simple loops only (you can check in galery), if you switch 1-2-3 repeatedly magnet go forward, otherwise 3-2-1 magnet go back. on board is on top layer y coils and bottom is for x. my first idea was to use coil matrix 8x8 colis but when I look detail on SRI video the use only simple lines and to board is connected only 3-4 wires. I tested on one my old board with long track directly powered can move magnet. In theory you can with only 6 signals move robot on unlimited 2D space.

I am waiting for mosfets to control it with mcu and smaller magnets.

Are you sure? yes | no

Mike Szczys wrote 05/02/2018 at 18:31

In the demo video, what are you using to actuate the movements? Is each swipe just sequencing which order the coils are energized?

Very cool proof of concept!

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2D actuator move micro robot in X/Y 2D space

Description

Details