How did I make a table tennis Robot?
How did I make a table tennis Robot?
IDEA
The design consists of 3 main parts
- The mechanism which loads the balls and controls the ball rate is "the time between two consecutive balls".
- The shooting mechanism directs the ball all over the table and controls its speed and spin.
- The box includes all the needed electronics. so let us starts with the first part.
The loading mechanism
Consists of 3 main parts
The pipe
I used a 2-inch PVC pipe and simply modify it to be like the image below.
The container
The moving part
For this part, I used a NEMA17 stepper motor to move 3 PVC half-rings glued to its shaft, but at the end of the project, I replaced them with a piece of 12mm plywood laser cut. And the motor pushes the balls to a 90-degree pipe angle. I attach the motor and the 90-degree pipe angle to a piece of plywood.
The shooting mechanism
The mechanism through the balls simply consists of 2 pulleys attached to 2 motors when the ball move inside them they will push it forward and based on the speed of both of them we can control the speed and spin of the ball.
I used 2 brushless motors 1000kv (XXD A2212) and 2 30A ESCs to control all wiring details and codes in the sections below.
I used a 1.5-inch PVC pipe and I made 2 holes in the upper and lower half of it to fit the 2 pulleys.
and for the motor fixation, I 3d printed it and you can find the STL part in here.
The electronics
I reused another old box to be the container for the electronics which are :
- power supply 12v 10A to supply the whole system.
- Arduino Uno, to control all the motors.
- Bluetooth module HC-05 to communicate with the robot and adjust its configuration.
- 2 ESCs to control the brushless motor as I mentioned above
- TMC2208 motor driver for the steeper motor
- 5v power supply to supply the servo.
The wiring
system wiring as below
Arduino code
you can download the Arduino code Here
it simply read the data from the mobile application and then updates the robot configuration based on it.
I m impressed. Can you share arduino codes? & app for android?
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