. Intro Idea Brief history of Perseverance rover & the purpose of it ( applications ) paca! 2 j> . Ch1 ( mechanical design) Steps of mechanical design Small scale image of the real rover gives us the key dimensions Then the cad design begins .. First: the main chassis ( aluminium profiles similar to the one used in 3d printer) .. second: the rocker_bogie suspension system ( alo dl 19m ae aS Ag By gqctall ailalsszusl ) .. third : the differential .. Ath : design of the legs with the appropriate selected motors ( servo motors for steering & dc geared motors formovement ) JS! least Siz yilgall ojo yl S98 tila 5th: design of couplers, wheels and rims with the appropriate design to match the original design of the real rover ..6th : camera unit with appropriate motors for rotation in x & z directions ..7th : design of 6 dof robotic arm driven by mg996 servos Most of the parts are designed to be 3d printed end of mechanical design___ de Libel ajo From cad to acutal parts ( 3d printing 70% & laser cutting ) Syl ej After which Assembly phase beginsdiglhall Sled! cy2t59 3M Lil dghs al cals Soul 8 lead cea 1. Purchase all the required essential components ( aluminium profiles 20x20) Aluminium profile nuts Screws (normal & hexahead ) Threaded rod (5mm & 8mm) Bulleys 2. Cutting the aluminium profiles into appropriate lengths 3. Checking the 3d printed parts and prepare them to be Assembled by ( sanding & -944! gu+93 & painting) 4. Assembling the 3d printed parts together with the main aluminium chassis 5. Cont. Legs, wheels differential and laser cut parts After checking the rocker-bogie suspension 6. Cont. Assembling motors in the right place mg996r servos with appropriatehorn for steering & 12v de geared motor ( 10 rpm ) with coupler connected to rim wheel for motion 7. Cont. Camera unit with the stepper motor using coupler and 5mm Threaded rod for z rotation and servo for x rotation 8. Last . Assembling the 6 dof robotic arm with it's metal 2dof gripper Ul elias Coutualle cuts re alSzzm del JS Mao (geal Bige5 gare II Igalall dz 7 pis Meo 294 dl lism9 Igde abs Is slau! 9! sgasI! glace puurdle ol Asal 8 degieall clio! elute end of Assembly Syl cj> Electrical design & control CL! jad jules! Vi dae) dyad! ced! glace giyzs! UI yl gall( elgitl JS sgile So diloa dusla! Slash (spi connection 9 nrf24101 ) Jbest! SsogiglJl ELsill 8 Sola asi auc! 8 Soll amy Phe ASH UI so szi9 Solel Syl (295 8 y2SI ae plSazm ) Joye ualeal ackreman steering AcJ! ssloadlo clit oS .nud! piloe 8 eSols low level Lely JoyuSdI j5tl 8 Quy IS soy 85 chil gl ye Ulgal 9 els am high level 455 Steps of electrical design 1. Selecting the appropriate electrical elements for our project ..Motors De geared motor ( volt , current , rpm, size) Servo motor mg996r ( stall current , torque , size, price )Stepper motor ( stepping resolution) ..Motor drivers Drv8871 ( for dc motors ) Drv8825 ( for stepper motor) 16 channel servo driver PCA 9685 .. microcontroller Arduino mega Arduino pro mini ( 2x ) .. radio connection Nrf24101 ( spi protocol) Bluetooth module HC_05 .. power element Lithium ion battery with appropriate current Dc _ Dc step-down buck converter aljgle deal glial UI aged! jeg aic @lSil sly Voltage regulator ( 3.3v ) for arduino pro mini & Nrf24101 .. camera unit Esp32 cam.. various other parts Joysticks & decoupling capacitors & potentiometer & push buttons & resistors & screw terminal & male- female pin- headers & jumpers & wires Then making the circuit with connections After finishing the circuit peb J! ej> Step 2 Design our custom pcb to hold everything together .Pcb for the main circuit it will act as arduino mega shield . Pcb for the radio controller ts guile you pcbJ! aaaig foot print 9 trace width J! y< ell Silk screen Sjmle dyls Je dob JS paryos clawils 9>ol!l aggdale JS ge aacil Il easy eda dares pcbJ! claws jlcpcb ge pcb JI cule lil nurse 45d! Slslse dl Step 3 ( soldering & wiring ) end of electrical design & pcb_ Jaro 395) 25> Control & coding To give life the project Ackreman steering Pwm Various libraries in coding Spi library Servo library oy4&9 395 gatas le end aa algal ej aa Sate <9ls Sgro! gl ye alSd ples! 8 » ehuy Bsgsoa salgl: ol \be put (0 ane ySao) (ae dat (yo he Yeti high level control alas: 9 os9bs 41> 135 a9) jetson nano 9! raspberry pi ¥ computer vision packages 9 ros 26 Raspberry pi camera