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Robot Miniskybot2


This entry contains information regarding the process of printing, assembly and programming of the robot Miniskybot2.

The Miniskybot2 robot is a printable robot designed by a group of Robotics and Cybernetics of the Polytechnic University of Madrid. It is an easy to print, assemble and to program this mobile robot. The original robot comes with a ultrasound on the front sensor only, while this blog proposes a number of changes to expand its capabilities, as well as a new electronic design. Continuous rotation servos have been selected instead of standard servos, making it unnecessary the need of modifying a standard servo.

3D printing

The robot, with the proposed modifications, has been used in the course of mobile robotics of the Polytechnic University of Valencia.

Here we include the STL models used for the printing of our version of the robot Miniskybot2. The part for batteries accommodates two extra batteries (placed vertically) and supports two CNY70 (infrared) sensors. On the other hand, the chassis of the robot includes space to allocate two SM-S4303R continuous rotation servos. Finally the wheels have been modified to provide better traction, combined with the design proposed here.



The following print settings using the Slic3r software have been used for the printing job of this robot:

  • layer_height = 0.4
  • perimeters = 3
  • top_solid_layers = 4
  • bottom_solid_layers = 4
  • fill_density = 0.4
  • perimeter_speed = 30
  • infill_speed = 60
  • travel_speed = 130
  • nozzle_diameter = 0.5
  • filament_diameter = 3
  • extrusion_multiplier = 1
  • perimeters extrusion width = 0.53 mm
  • infill extrusion width = 0.53 mm
  • solid infill extrusion width = 0.53 mm
  • top infill extrusion width = 0.53 mm
  • first layer extrusion width = 0.70 mm

Electronic scheme:

The following electronic scheme has been designed in order to connect an Arduino Nano v3.0 with the following sensors and actuators:

  • 4 HC-SR04 Ultrasonic sensors.
  • 2 infrared CNY70 sensors.
  • 2 servomotors SM-S4303R.

The scheme also incorporates a voltage regulator for sensors and actuators (the arduino is powered directly from the batteries). Given that battery holder design allows to use up to 6 batteries of type AAA, you can either use rechargeable batteries (1. 2Vx6 = 7. 2V) or normal (1. 5Vx6 = 9V), both voltages are suitable for the Arduino Nano v3.0.


Below are images of the electronics manufacturing, whose CAM files you can download here:

IMG-20140429-WA0000          IMG-20140429-WA0001




Here you have examples of programming the Arduino Nano v3.0 for the reading of the HC-SR04 sensors.

Here you have examples of programming the Arduino Nano v3.0 for the control of servomotors.

In class:

Below is an image with 14 robots miniskybot2 (original version) that we printed in 2013/2014 academic course.


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