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Mobile Robot
For Hobbyist, Research and
Education
Assembly and User Guide
Copyright (c) 2005 Arrick Robotics
All Rights Reserved
Robotics.com
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Revision D ARobot Mobile Robot 11/17/2005 Table of Contents Introduction Introduction....................................................1 About ARobot................................................1 What You’ll Need..........................................2 Feature List ....................................................2 Specifications.................................................3 Precautions.........................................
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Table of Contents Continued Connectors Battery Connector ..........................................36 Body Connector .............................................36 Serial Port Connector.....................................36 RC Servo Motor Connectors..........................37 DC Motor Connector .....................................37 Powerful Output Connector ...........................37 Expansion Expansion
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Introduction Congratulations for purchasing the ARobot mobile robot. This manual should answer all of your questions. We suggest that you read and understand all of it before using your new robot. If you have any questions, please view our web site at www.robotics.com/arobot The software provided is designed for use with IBM-style personal computers. This manual assumes the user has full understanding of how to use their computer and operating system. Refer to the documentation for
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What You’ll Need To build and program ARobot you will need the following items: Common hand tools – screwdriver, pliers, etc. Your choice of spray paint (optional). Basic Stamp II computer chip. Basic Stamp II programming information – available free on the Internet or you can purchase a book. Understanding of Basic programming or a willingness to learn. IBM style PC running DOS or Windows, 3-1/2“ disk drive, unused serial port (9 pin connector). Internet access f
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Technical Specifications Body: .062 aluminum - cut, punched, and formed. Configuration: 3-wheel, front wheel drive, rear wheel steer. Dimensions: 10" x 10", 5" tall, 2-1/4 lbs. Payload capacity: 1 lbs. Wheel size: 3.25" diameter. Drive Motor: 12 volt DC gear motor, 74 full load RPM, 1.6 amp full load current. Quality machined wheel coupling and bearings. Optical wheel encoder for distance measurement Encoder: 20 counts per revolution - 2 per inch of travel (1/2
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Precautions The following precautions must be taken to insure trouble free operation of ARobot. The order that these precautions are listed does not indicate their importance. Failure to observe these precautions may result in loss of life, damage of property and/or damage to the Robot. Never attach or remove cables while power is applied to the Robot. Never use the robot in areas near water such as swimming pools. Never allow the whisker wires to be inserted into ele
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Component Locator Use the following diagrams to familiarize yourself with ARobot' s various components. Encoder Right Side Wheel Front Drive Whiskers Motor Controller Battery Pack Steering Steering Steering Motor Arm Linkage Controller Expansion Body RC Servo Drive motor Powerful Connector Proto Area Connector Motors Connector Output Battery Connector Basic Stamp Green LED Red LED Power Switch Coprocessor 5V Voltage Reset Jumpers Buttons Serial Port Speaker H-bridge Regu
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Glossary of Terms Analog Signals – Signals that have values between on and off (1 and 0). Android – A robot that has a human-like form. Artificial Intelligence (AI) – A computer program that simulates intelligence like that found in biological systems. Artificial Life – Behavior that is simulated by a computer program or other machine that mimics some or all aspects of biological life. Baud Rate – The number of bits per second. In a serial signal from a typical personal computer, the
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Glossary of Terms continued Fractals – A geometric pattern in which an object looks the same regardless of the viewing scale. Fractal concepts can be used in AI programming. Fuzzy Logic – Logic in which boundaries between sets are not crisp. This concept is often used to control systems that would be too complex to model with traditional sequential programs. Genetic Algorithm – A set of instructions that mimic biological life by simulating genes, mutation, and other aspects of livi
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Glossary of Terms continued Mechatronics – A combination of mechanical and electrical devices to create a system. Natural Language – Language used by humans to communication. Neural Network – A network of processing elements that are connected together to simulate the intelli- gence created by biological brains. Often used to perform pattern recognition. Open Loop – in motor control, the lack of a feedback device. Parallel Data – Data that is transmitted multiple bits at a time using
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Assembly Overview ARobot’s assembly normally takes about 2 hours or less excluding time for painting. Children as young as 10 can build ARobot with the help of an adult. The controller board and cables are pre-built, so sol- dering is not required. During assembly you will do these things: Sand and paint the metal robot body pieces (this is optional). Mounting whiskers, drive motor, steering motor, wheels, etc. Route cables. Install the Basic Stamp II onto the co
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Parts ARobot is easy to put together. Make sure you have all of the parts listed below before beginning. If something doesn’t look right, send us some email at info@robotics.com Quantity Description Used For 1) Robot Body Sheetmetal Body 2) Motor Brackets Mounting front drive wheel assembly 1) Encoder wheel Encoder assembly 7) Screw, 4-40 x 3/16” Whisker spacers, drive motor 12) Screw, 4-40 x 3/8” Motor brackets, encoder sensor, steering motor
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Parts continued Here are drawings of SOME of the parts in the ARobot package. Drawings are not to scale. As you build ARobot, refer back to these drawings to identify parts. Screw, 4-40 x 3/16 Encoder Wheel Encoder Sensor Screw, 4-40 x 3/8 Screw, 6-32 x 1/4 Collar Nut, 4-40 Nut, 10-32 Front Axle Rear Axle Steering Arm Washer, #4 star Washer, #10 star Bronze Bearing Washer, #6 plastic Washer, #6 shoulder Robot Body Coupling Spacer, 4-40 x 1/4 Spacer, 1” plastic Steering Moto
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Parts continued Encoder Motor Brackets Wheel RC Servo Drive Motor Steering Motor Body Cable Controller Battery Cable Body Battery Holder Wire Ties Encoder Sensors 4-40 x 3/8 4-40 x 3/16 Front Axle Whisker Wires Whisker Shoulder Washers Steering Whisker Linkages Spacers Bronze Bearing Whisker Plastic Rear Axles Washers Velcro Steering Controller Collars #4 Star Washers Arms Spacers 6-32 x 1/4 4-40 nuts 10-32 nuts 12
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Painting ARobot' s paint job is your first chance to be creative and have a little fun. Who wants every robot to look alike anyway? Five parts are candidates for painting: The robot base, 2 motor brackets, encoder wheel, and the motor coupling. Or if you prefer, simply leave these parts unpainted. Here' s the process: Sanding Paint primer Finish coat Accents Sanding Sand the metal, especially the edges, with fine sand paper (200-600 grit). This process cou
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Whiskers Two whisker wires are mounted on the front of the robot to detect obstacles. Locate the 4 whisker mounting holes near the front center of the robot body. Scratch off paint around the two smaller holes. Next, bend each whisker wire using the drawing as a full scale pattern. Locate the body cable and find the ground lug. Mount the 2 whisker spacers like the drawing and place the ground wire from the body cable under one of the whisker spacers and a #4 star washer under the oth
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Whiskers continued Whisker Detail Full Scale Whisker Wire Pattern 3” 1-1/2” 8-3/4” Total Length 4” Small Loop Attaches to Whisker Spacer Bend both whisker wires using this pattern 15
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Drive Motor and Brackets Locate the two motor brackets – a left side and a right side. Locate the drive motor. Mount the drive motor to the left motor bracket using 2 or 3 screws according to the drawing. Next, attach the motor brackets to the robot’s body using 3 screws, 3 star washers, and 3 nuts per motor bracket. Minor bend- ing may be required to align the mounting holes. Summary: Locate the 2 motor brackets (left and right sides), and the drive motor. Mount the drive
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Encoder Sensor The encoder sensor counts the teeth in the encoder wheel using invisible IR (infrared) light to measure the distance traveled. The encoder wheel has teeth that interrupt the beam of light. Locate the encoder sensor and notice the dots placed on it (see the drawing). Mount the sensor using 2 screws, 2 star wash- ers, and 2 nuts. The encoder wheel will be mounted to the axle later. Summary: Locate the encoder sensor. Mount the encoder sensor on the right wheel
