2
\$\begingroup\$

I'm a student working on an autonomous mobile robot designed to carry out a specific task. The robot is to do the given task in the least possible time with high reliability. I plan on using a Teensy 4.1 paired with 17 IR sensors, an accelerometer, an IMU, 2 encoder motors, 1 color sensor and 3 servos.

I'm currently designing the mechanical structure but I'm worried about how I can wire my robot and sensors efficiently so that there isn't a wiring mess of power-wires, signal wires, etc. Is there a design rule, or a design system that I should keep in mind when designing or are there any tips in general that can help me develop a cleaner system so that it's easy to debug any issues and replace sensors easily?

The robot's task is to read a black & white map and go to a specific location based on that and pick an object and place it at an another location.

Any help would be greatly appreciated.

\$\endgroup\$
1
  • \$\begingroup\$ For long-term, moving, actuating robotic bits: Use "continuous flex" rated cable, and a good credit card. "Wire Loom", and/or "Energy Chain" products can keep things tidy, but make repair & inspection more difficult. Use a constant series (model) of connectors with customizable polarization settings to keep inventory low and connector construction consistent. \$\endgroup\$ Commented Jan 3 at 16:09

1 Answer 1

Reset to default
1
\$\begingroup\$

What I've found helpful: Make connections easy:

  1. Chances are that you'll end up disconnecting and connecting the wires multiple times during development. Make sure the design is such that it prevents misconnections.
  2. Mounting the components on smaller PCBs that consolidate the connections to one bigger connector and allow not to use that many wires directly to a component.
  3. Fine pitch, multiple connection connectors etc might be prone to breaking with connection-disconnection cycles. Number of cycles is mentioned on the datasheet, but some robust connectors can take much more than that (with the cost of long term reliability).
  4. Reserve space so you can actually pull the connectors off when mounted.

Make connections reliable:

  1. Mount the cables so that they don't flap around and especially don't cause forces to connectors. For example vibration or shocks shouldn't cause pulling force to connectors.
  2. Avoid using adhesive mounts, unless the design is well tested
  3. Do vibration, shock and drop tests for the device
  4. If cost is no problem, rigid-flex boards can be good

Connect sensors / debug easily:

  1. You can use pin sockets such as this:

Pin socket

(Image from TE)

  1. Put the sensors on daughter boards with board to board connectors
  2. Have debug connector available
\$\endgroup\$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Start asking to get answers

Find the answer to your question by asking.

Ask question

Explore related questions

See similar questions with these tags.