Little PCB Motor Robotic Is Earning Its Initial Wobbly Moves

[Carl Bugeja] has been doing work on his PCB motors for much more than a few decades now, and it doesn’t feel like he is close to running out of tips for the undertaking. His most recent generation is a very small Bluetooth-controlled robot crafted all around two of these motors.

One of the main problems of these axial flux PCB motors is their small torque output, so [Carl] experienced to make the robotic as light-weight as doable. The main board incorporates a microcontroller module with integrated Bluetooth, an IMU, regulator, and two motor drivers. The motor stator boards are soldered to the major board employing 90° header pins. The frame for the body and the rotors for the motors are 3D printed. A set of four neodymium magnets and a bearing is press-fit into every single rotor. The motor shafts are off-the-shelf PCB pins with a person end soldered to the stator board. Electricity comes from a tiny one-mobile lipo battery connected to the principal board.

The robot moves, but with a jerking movement, and keeps generating unintended turns. The main result in of this appears to be the wobbly rotors, which suggest that the output torque fluctuates in the course of the rotation of the motor. Considering the fact that there are only two points of make contact with to the floor, only the excess weight of the board and battery is preventing the central aspect from rotating with the motors. This doesn’t glance like it’s very more than enough, so [Carl] wishes to experiment with utilizing the IMU to sleek out the movement. For the subsequent edition, he’s also operating on a new shaft mount, a steel rotor, and a extra productive motor design.

We glance forward to seeing this in motion, and also what other software [Carl] can come up with. He has presently experimented with turning it into a stepper motor, a linear motor, and a little jigsaw motor.

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