| 1 | # HBRC 2013 Challenge Robot |
| 2 | |
| 3 | ## Introduction |
| 4 | |
| 5 | For 2013, it is proposed that there be a "club bot". |
| 6 | The goal is to learn from the 2011 "club bot" and |
| 7 | improve upon it. |
| 8 | |
| 9 | Most introductory robots are "dead-end" robots that |
| 10 | tend to strand people after they have the first |
| 11 | few robot behaviors are implemented -- obstacle avoid, |
| 12 | wall follow, line follow, don't fall off table, etc. |
| 13 | |
| 14 | One of the primary goals of the 2013 robot is to try |
| 15 | to make it expandable from simple to more complex in |
| 16 | reasonable incremental steps. |
| 17 | |
| 18 | The base is organized around 1in x 1in grid peg-board |
| 19 | which is readily available from locations link Home |
| 20 | Depot, Lowes, and lumber stores. |
| 21 | |
| 22 | There would be a variety of independent upgrades |
| 23 | that could be done in whatever order the user |
| 24 | feels inclined to use: |
| 25 | |
| 26 | ## Basic Platform: |
| 27 | |
| 28 | The basic robot would be built in three phases: |
| 29 | |
| 30 | ### Phase 1: Arduino + Blinky LED's: |
| 31 | |
| 32 | Goals: |
| 33 | |
| 34 | * Cut peg board to size using hack saw |
| 35 | * Get Arduino IDE installed on laptop. |
| 36 | * Drill Arduino mounting holes in peg board |
| 37 | * Mount Arduino to peg board using screws |
| 38 | * Mount Mini Breadboard to peg board |
| 39 | * Install LED + resistor on breadboard |
| 40 | * Hook up LED to Arduino |
| 41 | * Download Blinky LED program |
| 42 | |
| 43 | Bill of Materials: |
| 44 | |
| 45 | * 1 Arduino(tm) board + USB Cable (SainSmart: 20-011-110: ~$14/10) |
| 46 | * 1 Mini BreadBoard (Ebay: ~$3/10) |
| 47 | * 1 Breadboard cables (Ebay: ~$4/10) |
| 48 | * 1 4in x 5in peg board to mount arduino + miniboard |
| 49 | * 4 small squares of double sided tape |
| 50 | * 3 #4-40 Phillips 1/2" flat-head screws |
| 51 | * 6 #4-40 hex nuts |
| 52 | * 3 #4 lock washers |
| 53 | * 2 Red LED's |
| 54 | * 2 Yellow LED's |
| 55 | * 2 Green LED's |
| 56 | * 6 330 Ohm Resistors |
| 57 | |
| 58 | Required Tools: |
| 59 | |
| 60 | * 1 Safety glasses!!! |
| 61 | * 1 Laptop Windows or MacOS or Linux |
| 62 | * 1 Hack saw (to cut peg board) |
| 63 | * 1 Phillips screw driver |
| 64 | * 1 Drill + Drill Bits |
| 65 | * 1 Pliers |
| 66 | |
| 67 | ### Phase 2: Build Robot Platform |
| 68 | |
| 69 | Goals: |
| 70 | |
| 71 | * Solder 2 motor wires to each motor |
| 72 | * Mount Motors to brackets |
| 73 | * Mount brackets to base |
| 74 | * Attach to caster to base |
| 75 | * Attach Arduino+Breadboard to peg board base with screws |
| 76 | * Install SN754410NE on breadboard |
| 77 | * Connect motors to breadboard |
| 78 | * Connect Arduino to breadboard |
| 79 | * Download a program to make the base move forward and backward |
| 80 | |
| 81 | Bill of Materials: |
| 82 | |
| 83 | * 1 8in x 8in peg board for robot base |
| 84 | * 2 GM3 gear motors (Solarbotics: $11.50/2) |
| 85 | * 2 GMPW Wheels (Solarbotics: $6.50/2) |
| 86 | * 2 Wheel brackets (custom: ~$3/2) |
| 87 | * 1 4AA Battery Holder w/cover&switch (Jameco: 216187: ~$1.05) |
| 88 | * 1 9V Battery Holder w/cover&switch (Jameco: 2128067: ~$1.40) |
| 89 | * 4 AA Batteries (Brooklyn Batteries) |
| 90 | * 1 9V Battery (Brooklyn Batteries) |
| 91 | * 1 Ball Castor (Walgreens: Roll-on Deoderant: ~$3) |
| 92 | * 1 SN754410NE Dual H-Bridge (Future: ~$1) |
| 93 | * 14 #6-32 3/4in Phillips Pan-Head screws (Olander) |
| 94 | * 21 #6 Washers (Olander) |
| 95 | * 28 #6-32 Hex Nuts (Olander) |
| 96 | * 14 #6 internal tooth lock washers (Olander) |
| 97 | * 4 #4-40 1in Phillips Flat-Head screws (Olander) |
| 98 | * 4 #4-40 Regular Pattern Hex Nut (Olander) |
| 99 | * 2 #4-40 3/4in Phillips Flat-Head screws (Olander) |
| 100 | * 2 #4-40 Small Pattern Hex Nut (Olander) |
| 101 | * 2 Nylon ties (Frys) |
| 102 | * 5 Rubber bands (Office Depot) |
| 103 | |
| 104 | Additional Required Tools: |
| 105 | |
| 106 | * 1 Soldering iron |
| 107 | * 1 Roll of solder |
| 108 | * 1 Solder tip cleaner |
| 109 | * 1 Diagonal cutter |
| 110 | * 1 Wire Stripper |
| 111 | |
| 112 | ### Phase 3: Build TableTop Challenge Phase 1 |
| 113 | |
| 114 | Goals: |
| 115 | |
| 116 | * Cut out two pieces of Peg Board |
| 117 | * Drill mounting holes for sonar module |
| 118 | * Crimp connectors to cable |
| 119 | * Mount Sonar modules to Robot base |
| 120 | * Plug Sonar modules into breadboard + Arduino |
| 121 | * Develop table top challenge code |
| 122 | |
| 123 | Bill of Materials: |
| 124 | |
| 125 | * 1 ?in x ?in peg board sonar holders |
| 126 | * 2 Sonar sensors (EBay: HC-SR04 ~$4/2) |
| 127 | * 4 2x8 .1in Female IDC connectors |
| 128 | * 2 12in 8 conductor ribbon cable |
| 129 | * 2 1x4 .1in Male-to-Male Headers |
| 130 | * 4 #4-40 Phillips Pan Head Screws |
| 131 | * 8 #4-40 Hex nuts |
| 132 | * 4 #4 Washers |
| 133 | * 4 #4 internal tooth lock washers |
| 134 | * 2 #6-32 Phillips Pan Head Screws |
| 135 | * 2 #6-32 Hex Nuts |
| 136 | * 4 #6 Washers |
| 137 | * 2 #6 internal tool lock washers |
| 138 | * 1 18" of twine (for a Wyland leash) |
| 139 | |
| 140 | Additional Required Tools: |
| 141 | |
| 142 | * 1 Benchtop vice |
| 143 | |
| 144 | That provides the basic configuration. |
| 145 | |
| 146 | ## Rechargable Battery Upgrade |
| 147 | |
| 148 | This gets rid of the hassle of buying and throwing |
| 149 | away AA batteries. |
| 150 | |
| 151 | Bill of Materials: |
| 152 | |
| 153 | * 2 7.2V 1300mAh LiPo Battery Packs (Trossen: BAT-7V1300M: $26/2) |
| 154 | * 1 LiPo Battery Charger (Trossen: KIT-CHG-LIPO: ($16+$11)/1) |
| 155 | * 2 Female Deans Connector (TBD) |
| 156 | * 1 DPDT Power Switch (TBD) |
| 157 | |
| 158 | ## Raspberry Pi Upgrade |
| 159 | |
| 160 | The DC-DC convert is rated for 1.5A and can be |
| 161 | plugged into the breadboard. The ribbon cable |
| 162 | can be assembled with just a vise. The RasPi |
| 163 | allows 5V to be injected over the cable. Obviously |
| 164 | the RasPi allows people to start trying out ROS. |
| 165 | |
| 166 | Bill of Materials: |
| 167 | |
| 168 | * 1 Raspberry Pi Model B 512MB (Newark: $35) |
| 169 | * 1 OKI-78SR-5/1.5-W36: 5V@1.5A DC/DC Switcher (Digikey: $4.30) |
| 170 | * 1 2x13 Female Ribbon Cable Header |
| 171 | * 1 16-conductor chunk of ribbon cable |
| 172 | * 1 2x8 Female Ribbon Cable Header |
| 173 | * 1 1x8 Male to Male pins header pins |
| 174 | |
| 175 | ## Odometry Upgrade |
| 176 | |
| 177 | This upgrade requires some work. |
| 178 | |
| 179 | Bill of Materials: |
| 180 | |
| 181 | * 2 AS5055 ($10/2) |
| 182 | * 2 AS5055 PCB's |
| 183 | * 2 Appropriate magnet ($2/2) |
| 184 | * 2 GM3 to magnet shaft adaptor |
| 185 | |
| 186 | An adaptor from the GM3 to Magnet is needed; |
| 187 | this would be custom made out of some plastic. |
| 188 | In addition a custom PCB is needed to hold |
| 189 | the AS5055 which is a surface mount chip. |
| 190 | |
| 191 | ## WiFi Upgrade |
| 192 | |
| 193 | Something like the GMYLE using the RTL8191SU should |
| 194 | do the trick. With this it is possible to network |
| 195 | into your robot. There it may be necessary to have |
| 196 | separate power injection for the Wi-Fi. |
| 197 | |
| 198 | Bill of Materials: |
| 199 | |
| 200 | * 1 USB WiFi Dongle with decent antenna (Amazon: ~9) |
| 201 | |
| 202 | ## Camera Upgrade |
| 203 | |
| 204 | This RasPi camera has not shipped yet, but it seems |
| 205 | to be nearing the end of prototyping. A USB camera |
| 206 | is another alternative. |
| 207 | |
| 208 | Bill of Materials: |
| 209 | |
| 210 | * 1 RasPi Camera (~$25) |
| 211 | |
| 212 | ## Cheap Arm Upgrade |
| 213 | |
| 214 | Bill of Materials: |
| 215 | * 4 Hobby servos (base twist, shoulder, elbow, gripper) |
| 216 | * 1 Gripper (Jameco 358811: $20) |
| 217 | * Appropriate struts |
| 218 | |
| 219 | This is a low payload arm that can lift 10-20 oz max. |
| 220 | |