Abstract

The Bonic Bot S1 project aims to design and develop a multifunctional mobile robot equipped with articulated arms, capable of performing a variety of tasks in diverse environments. This robot integrates advanced sensors and actuators to enable smooth movement and precise manipulation of objects. Its mobility is enhanced by a robust wheeled or tracked base, allowing it to navigate different terrains effortlessly. The articulated arms mimic human-like movements, providing the robot with the ability to grasp, lift, and interact with its surroundings effectively. Additionally, the robot incorporates a user-friendly interface for remote control and programming, making it suitable for applications in industries such as logistics, healthcare, and education. Through this project, we aim to explore the potential of robotics in enhancing productivity and efficiency in everyday tasks.

Development Guide

Mechanical Design and Assembly (Fusion 360)

CAD Modeling

The structural framework of the Bonic Bot S1 is designed using Autodesk Fusion 360, ensuring mechanical integrity and ease of assembly.

Key Steps:

• Chassis Design:
  • Custom frame to house motors, LiDAR, control boards, and battery.
  • Ventilation and cable management considerations are included.
• Mount Design:
  • Brackets for mounting sensors (TF Luna LiDAR on the head), round OLED display (as the eye), and servo motors (for the robotic arm).
• Simulation & Fit Testing:
  • All components were simulated and tested in Fusion 360 to ensure fit and clearance.

Base

Lower body

Upper body

Right Hand

Left Hand

Neck

Head

Download Bonic Bot S1 CAD Files :-

Assembly Instructions

1. Chassis Assembly:
   • 3D print or fabricate the base chassis from the provided CAD files.
   • Attach the Waveshare DDSM115 motors securely into the designated motor brackets.
   • Fix the battery holder and insert the 11.1V Pro Range battery.
2. Sensor & Display Mounting:
   • Mount the TF Luna LiDAR on the top head bracket.
   • Fit the Waveshare 0.71" round OLED into the eye slot.
3. Robotic Arm Assembly:
   • Attach the ST3215 servo at the shoulder joint and the ST3090 at the forearm or precision grip.
   • Secure the servo motors using screws and ensure proper alignment.
4. Electronics Placement:
   • Mount ESP32-S3 and ESP32-S3 Mini on the main platform with PCB standoffs.
   • Place the 3S Daly BMS near the battery compartment and connect the leads securely.
   • Route and secure connecting wires using cable ties for neatness.
5. Final Inspection:
   • Double-check all connectors, screws, and fitments before powering on the system.

Lower body part

Upper body part

The lower body part with an upper body part

Component List and Hardware Architecture

Electronic Components

• Microcontrollers:
  • ESP32-S3 (Waveshare)
  • ESP32-S3 Mini (Waveshare)
• Motors:
  • Waveshare DDSM115 DC Gear Motors (High Torque)
• Power Supply:
  • Pro Range 11.1V, 4400mAh Li-Po Battery
• Sensors & Output Devices:
  • TF Luna LiDAR Sensor (Head Mount for Obstacle Detection)
  • Waveshare 0.71" Round OLED Display (Placed as an Eye)
• Actuators:
  • ST3215 Servo Motors (Heavy-Duty Arm Movement)
  • ST3090 Servo Motors (Precision Movement)
• Miscellaneous:
  • Connecting Wires, PCB Headers, Mounting Screws, and Custom 3D Printed Brackets

Circuit Architecture

• Dual Voltage Rails for Powering Logic (3.3V) and Actuators (12V)
• I2C Communication for OLED Display
• UART/SPI for LIDAR Sensor
• BLE for App Communication
• Servo PWM Control via GPIOs

Firmware Development

Development Environment

• Platform:

  Arduino IDE / PlatformIO

• Language:

  C++

• Target:

  ESP32-S3

Key Features

• Motor Control

  : Dual DC motor driver logic using PWM.

• Servo Control

  : Multi-servo arm movement logic.

• Sensor Integration

  : TF Luna distance measurements.

• OLED Control

  : Display custom eye animations.

• Bluetooth LE

  : Communication with the mobile app.

Download Firmware Code:- https://github.com/Autobonics/bonicbot-hardware.git

Software and Mobile Application (Flutter)

App Name: Bonic Bot

Features

• Live Sensor Dashboard

  :

  • Real-time LiDAR data display
  • Battery voltage and system status

• Manual Control Interface

  :

  • Joystick-style movement controls
  • Sliders for servo arm positioning

• BLE Communication

  :

  • Secure pairing with ESP32
  • Real-time command transmission

• AI Mode

  :

  • Toggleable via the app
  • Enables smart features like obstacle avoidance, object tracking
  • Autonomous navigation routines

• Special Features Panel

  :

  • Voice Mode Toggle
  • Gesture Mode (future expansion)
  • OLED Feedback Controller
  • Arm Gesture Presets

Technology Stack

• Frontend:

  Flutter (Dart)

• Communication:

  BLE using

  flutter_blue

  or similar packages

• UI/UX:

  Minimalist design with intuitive control layout

Download Bonic Bot App Source:- https://github.com/Autobonics/bonic-bot-flutter/tree/main

Getting Started Guide

Prerequisites

• Autodesk Fusion 360 (Free for Education/Personal Use)
• Arduino IDE / PlatformIO with ESP32 Board Support
• Flutter SDK with Android Studio or Visual Studio Code

Assembly & Deployment Steps

1. Download CAD files and 3D print all components.

2. Assemble the mechanical structure

   install motors, and mount sensors and servos.

3. Wire the electronics

   as per the circuit diagrams provided in the GitHub repo.

4. Upload firmware

   to the ESP32-S3 using Arduino IDE or PlatformIO.

5. Install and run the Bonic Bot mobile app.

6. Pair the app with the bot via BLE and test individual modules.

7. Activate AI Mode or custom modes

   and observe autonomous behavior.

8. Iterate and customize

   using the open-source codebase.

Conclusion

The Bonic Bot S1 project successfully demonstrates the design, development, and integration of a multifunctional mobile robot equipped with articulated arms and advanced sensory systems. Through its modular mechanical design, robust electronics architecture, and intuitive software interface, the robot is capable of performing complex tasks across various environments. With open-source accessibility and scalable features like AI-driven autonomy and BLE control, Bonic Bot S1 serves as a powerful platform for education, research, and industrial applications, paving the way for innovative advancements in robotics.