1 # HBRC 2013 Challenge Robot
5 For 2013, it is proposed that there be a "club bot".
6 The goal is to learn from the 2011 "club bot" and
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.
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.
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.
22 There would be a variety of independent upgrades
23 that could be done in whatever order the user
24 feels inclined to use:
28 The basic robot would be built in three phases:
30 ### Phase 1: Arduino + Blinky LED's:
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
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
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
67 ### Phase 2: Build Robot Platform
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
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)
104 Additional Required Tools:
108 * 1 Solder tip cleaner
112 ### Phase 3: Build TableTop Challenge Phase 1
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
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
133 * 4 #4 internal tooth lock washers
134 * 2 #6-32 Phillips Pan Head Screws
137 * 2 #6 internal tool lock washers
138 * 1 18" of twine (for a Wyland leash)
140 Additional Required Tools:
144 That provides the basic configuration.
146 ## Rechargable Battery Upgrade
148 This gets rid of the hassle of buying and throwing
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)
158 ## Raspberry Pi Upgrade
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.
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
177 This upgrade requires some work.
183 * 2 Appropriate magnet ($2/2)
184 * 2 GM3 to magnet shaft adaptor
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.
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.
200 * 1 USB WiFi Dongle with decent antenna (Amazon: ~9)
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.
210 * 1 RasPi Camera (~$25)
215 * 4 Hobby servos (base twist, shoulder, elbow, gripper)
216 * 1 Gripper (Jameco 358811: $20)
219 This is a low payload arm that can lift 10-20 oz max.