3/6/16 Tetrix first build robot instructions J. La Favre

Transcription

1 Figure 1 mount for Omni wheels - make two of these Figure 2 mount for Omni wheels, add bushing and tighten set screw of axle collar set screw should be tightened down on flat part of axle 1

2 Figure 3 Insert a double Omni wheel on axle, then a bushing Figure 4 insert a 3/8 inch spacer, then an axle collar...then tighten axle collar set screw on flat part of axle there should be just a little play in the axle - - then your assembly is ready for attachment to the frame 2

3 Figure 5 mount for drive wheels - make two Figure 6 tighten set screws of axle collar and axle hub - - make sure screws are tightened down on the flat part of the axle -- slip a 32 tooth sprocket onto the axle 3

4 Figure 7 slide a hub spacer onto the axle Figure 8 slide a 4" wheel onto axle, then use screws to tighten wheel to sprocket and axle hub - - wheel is now ready to be mounted onto frame 4

5 Figure 9 mount the wheels to the frame using T-slot screws and nuts Figure 10 mount voltage regulators to frame 5

6 Figure 11 this is how the voltage regulators should appear when frame is right-side up Figure 12 prepare this assembly which will be used to attach robot arm assembly to the frame Figure 13 mount assembly to frame with T-slot screws and nuts 6

7 Figure 14 attach two 288 mm channels, do not fully tighten screws yet Figure 15 view from back of robot -- attach a 144 mm angle between the two 288 mm channels, now tighten all screws 7

8 Figure 16 prepare two of assembly illustrated above, nuts should be loose so that you can slide them into T-slot of frame Figure 17 slide on frame, placing just in front of rear wheel 8

9 Figure 18 attach motor mount Figure 19 insert DC motor into mount Figure 20 parts to attach 24 tooth sprocket to motor axle 9

10 Figure 21 attach a motor hub and then a 24 tooth sprocket, make sure set screw of motor hub is tightened down on flat part of motor axle Figure 22 attach chain over sprockets, slide mount forward to remove slack on chain, but not too tight, then tighten down T- slot screws of motor mount 10

11 Figure 23 prepare assembly above for attachment to frame Figure 24 attach assembly to back of frame with T-slot screws and nuts - - this completes all attachments to the frame Figure 25 attach 160 mm flat as illustrated above 11

12 Figure 26 attach battery clips to one inch standoffs as illustrated Figure 27 prepare lower limit switch mount illustrated above 12

13 Figure 28 attach lower limit switch mount as illustrated Figure 29 prepare this assembly, which will be used to mount the motor controllers, do not tighten down screws all the way yet 13

14 Figure 30 attach the assembly as illustrated and tighten down all screws Figure 31 prepare this assembly, use two screws to connect the 96 mm flats instead of one as pictured 14

15 Figure 32 attach assembly as illustrated Figure 33 attach two L-brackets as illustrated 15

16 Figure 34 attach flat plate as illustrated Figure 35 mount worm gear box as illustrated, axle must go through 4 th large hole from top of 288 mm channel, mount worm gear box with at least two screws 16

17 Figure 36 slip motor shaft into worm gear and tighten worm gear set screw onto flat part of motor shaft Figure 37 slide motor mount onto motor 17

18 Figure 38 use a 96 mm channel to attach motor mount to 288 mm upright channel Figure 39 insert bushing and spacer as illustrated 18

19 Figure 40 attach an axle hub to 40 tooth gear Figure 41 attach gear assembly to axle as illustrated and secure with an axle collar make sure set screws are tightened down on flat part of axle Figure 42 parts for the robotic arm assembly 19

20 Figure 43 attach hub gear spacer and 80 tooth gear to channel as illustrated Figure 44 attach strike plate to robotic arm as illustrated Figure 45 collect these parts in preparation for arm installation 20

21 Figure 46 install arm as illustrated, tighten set screws of axle collars Figure 47 attach 96 mm flats to end of robotic arm as illustrated 21

22 Figure 48 attach L-bracket to end of arm as illustrated, use 1/8-inch spacers between arm and L-bracket Figure 49 prepare gripper mount as illustrated (96 mm channel, 2 L-brackets and servo mount) 22

23 Figure 50 attach 64 mm flat bracket to servo and add two flat brackets as illustrated Figure 51 attach servo to mount as illustrated 23

24 Figure 52 prepare assembly as illustrated, with two 1/8-inch spacers, a flat bracket and 160 mm flat Figure 53 attach straight element of gripper assembly, be sure to add 1/8-inch spacers between channel and the flat 24

25 Figure 54 attach gripper assembly to end of arm as illustrated Figure 55 insert 3/4-inch screws in each mounting hole of each motor controller mount and add two nuts as spacers Figure 56 mount motor controllers as illustrated 25

26 Figure 57 attach L-bracket as illustrated Figure 58 attach radio receiver Figure 59 connect r/c receiver power cable to voltage regulator, make sure red wire is connected to red output terminal block and black wire is connected to black output terminal block Figure 60 insert other end of r/c receiver power cable to r/c receiver, connect to the lowest port on receiver 26

27 Figure 61 connect channel 1 cable of motor controller used to power drive wheels to channel 1 of r/c receiver, make sure yellow wire is on the left side Figure 62 connect channel 2 cable of motor controller used to power drive wheels to channel 2 of r/c receiver, make sure yellow wire is on left side Figure 63 connect channel 1 cable of motor controller used to power arm DC motor to channel 3 of r/c receiver 27

28 Figure 64 connect a 24-inch extension cable to the gripper servo cable and connect the other end to channel 4 of the r/c receiver, make sure white wire is on the left at receiver connection and that white wire connects to yellow wire of servo cable Figure 65 mount microcontroller board to left side of robot as illustrated Figure 66 connect microcontroller power cable to voltage regulator as illustrated, MAKE SURE TO MAKE RED WIRE CONNECTION TO RED BLOCK AND BLACK WIRE CONNECTION TO BLACK BLOCK 28

29 Figure 67 connect barrel plug of power cord to microcontroller Figure 68 connect power lines from arm DC motor to motor controller as illustrated, black wire should be left-most and red wire next to it Figure 69 connect right motor power lines to left connectors of motor controller used for drive motors and left motor power lines to right side connectors, as illustrated 29

30 Figure 70 attach electronics power switch to top flat plate as illustrated MAKE SURE THIS SWITCH IS IN THE OFF POSITION BEFORE YOU WIRE THIS SWITCH TO THE ROBOT Figure 71 install L-brackets to hold tail lights as illustrated Figure 72 attach tail lights using 1/8-inch spacers between L-brackets and tail lights and connect cables to motor cable connectors 30

31 Figure 73 install IR receiver as illustrated and attach 3 wire cable -- MAKE SURE TO CONNECT CABLE WITH PROPER POLARITY Figure 74 attach other end of 3 wire cable to microcontroller as illustrated, making sure to connect with proper polarity Figure 75 attach motors power switch to top flat plate as illustrated MAKE SURE THE SWITCH IS IN THE OFF POSITION BEFORE YOU WIRE THIS SWITCH TO THE ROBOT 31

32 Figure 76 connect positive power lines from motors power switch to the B+ connectors on the motor controllers and the negative power lines from the 12-VOLT battery to the B- connectors of the motor controllers.- HAVE SOMEONE CHECK THESE CONNECTIONS FOR YOU - A MISTAKE CAN DESTROY THE MOTOR CONTROLLER. The positive connections are marked B+ and the negative connections are marked B- Figure 77 DIP switches, drive motor controller: switches 1 and 3 to left, others to right Figure 78 DIP switches, arm motor controller: switch 3 to left, others to right The motor controllers must be configured properly by setting the DIP switch positions. Switch 1 is for mixed mode/independent control (switch to left = mixed mode, to right = independent control). For the drive motors we want mixed mode when the right joy stick is pushed forward or backward, both motors run forward or backward but when joy stick is pushed left or right, motors run differentially to accomplish the turn. For the arm motor, we want independent control. We are using 32

33 channel 3 of the remote control for the arm DC motor and channel 4 for the servo motor that controls the gripper. We want to control these motors independently. When the left joy stick is pushed down the arm lowers and when pushed up the arm rises. When the left joy stick is pushed left the gripper arms open and when pushed right the gripper arms close. Switch 2 is for exponential control. Switch to left = exponential and to right = linear. With exponential control the joy stick is less responsive in the central zone of its movement. Exponential control is sometimes helpful in controlling fast robots (which we don t have in this case). Switch 3 is for lithium mode: switch to right if using lithium batteries and to left if using other type (we are not using lithium type batteries). Switch 4 is for acceleration ramping. Switch to right for acceleration and to left for no acceleration. With acceleration on, control of the robot is generally smoother (less jerky movements) because the robot accelerates and decelerates at slower rates. Switch 5 is auto-calibrate mode: in left position auto-calibrate is on and in right it is off. In autocalibrate mode the neutral positon of the joy stick is read at power-up and the end points of joy stick travel are automatically detected. Switch in right position uses the saved calibration settings. The default saved settings are 1500 microsecond pulse = center position and 1000 and 2000 microseconds are the maximum settings. Our Futaba remote control seems to work well with these default settings, so we just keep switch 5 to the right to keep default settings. When controlling the robot autonomously with the ActivityBot microcontroller board, there MAY be a need to run Auto-Calibrate but I have not tested this yet. Switch 6 is Calibrate and Store. When switch 6 is to right and switch 5 is to left, the controller is in Calibrate and Store mode. In this mode, the first signals sent to the motor controller sets the stored center points when using saved calibration settings. The longest and shortest signals sent to the controller on each channel set the endpoints. Set switch 6 to left before powering down to save the settings. For microcontroller mode, both switch 5 and switch 6 should be to the right. In this mode timeout is disabled and the controller will run at the last commanded speed until a new command is given, using the saved calibration settings. Figure 79 build this assembly for upper limit switch 33

34 Figure 80 attach assembly to top flat plate - this photo was taken out of sequence, your robot will already have power switches attached to top flat plate Figure 81 find your limit switches assembly Figure 82 attach upper limit switch as illustrated 34

35 Figure 83 attach lower limit switch as illustrated It is very important to connect the wiring of these switches properly because only in that way will they function to prevent the robot from blowing the arm DC motor fuse when the arm reaches the end of its travel. The red PowerPole connector of the arm DC motor wire connects to the red PowerPole connector attached to the wire that goes to the upper limit switch. The red PowerPole connector attached to the wire of the motor controller for the arm DC motor should be connected to the red PowerPole connector attached to the wire that goes to the lower limit switch. Figure 84 find 7-cell (actually it is 8 cell) battery holder and insert 7 AA size NiMH rechargeable batteries. MAKE SURE YOU DON T SHORT CIRCUIT THE POSITIVE AND NEGATIVE WIRES AFTER BATTERIES ARE INSERTED. THE NiMH BATTERIES HAVE LOW INTERNAL RESISTANCE, UNLIKE ALKALINE BATTERIES. WHEN SHORT CIRCUITED, THE NiMH BATTERIES HEAT QUICKLY AND CAN GET HOT ENOUGH TO EXPLODE! 35

36 Figure 85 insert battery pack into clip next to the voltage regulators and secure with Velcro strap Connect the black wire of the battery pack to one of the black input terminals of the voltage regulators. Connect the black wire from the electronics power switch to the other black input terminal of the voltage regulators MAKE SURE TO MAKE THESE CONNECTIOINS TO THE BLACK INPUT TERMINALS, OTHERWISE YOU MIGHT DESTROY THE VOLTAGE REGULATORS HAVE SOMEONE CHECK YOUR WIRING Connect the red wire of the electronics switch to one of the RED input terminals of the voltage regulators, again making sure to connect at the proper terminal Connect the red wire of the battery pack to the available terminal of the electronics power switch. Figure 86 wiring of voltage regulators complete 36

37 Figure 87 attach speaker mount to microcontroller board as illustrated After the speaker mount is installed, attach the speaker to the mount and insert the cable of the speaker into the audio jack of the microcontroller board. You have now finished wiring the robot. Please make sure you have an adult check all of your wiring before you install the 12 volt battery pack to the robot. Figure 88 install 12 volt battery pack to robot Before connecting the battery to the robot wiring, make sure the Motors power switch is in the off position. Then connect the PowerPoles of the battery pack to the proper PowerPole connectors of the robot. Ask an adult to check your connection. Note the L-bracket and flat bracket in figure above that are close to the top of the battery pack. This should be installed to prevent the battery pack from falling out of the robot. You are now ready to test your robot. Ask an adult for help before you power the robot on. 37