Yeah, I needed to send some pix to a friend, so decided to just put some early pix up.
I’ve had it running under PS/2 control, but I’m still arranging stuff. Some of my “jumpers” connecting the BB2 to the RoboClaw are too short for the new location of the driver (bottom deck, in back of the motors). Even the PS/2 wiring is not as long as I need. Actually, the PS/2 can go on the back, facing down, but I’m still open to suggestions.
3.5" dia wheels, GHM16 200 rpm motors, that’s over 90 FPM. Although I’m only running the 12v motors at 7.2v for now. I need a BEC to regulate the 2 x 7.2v LiPo batteries down to 12v. Yeah, I ordered the wrong hubs! The wheels are just marginal for size, I’ll have to play with the castor’s heights. They look a little small on the 'bot. These are proto wheels, I might just machine up the proper size (3.5").
I’m building on a lot more then I can immediately use, because it only gets harder to add after a 'bots built.
The camera sits taller then I’d like. I might make a new angled C bracket to take the lower camera board directly, without the hex spacers. I’m also not really happy with the height off deck of the tilt servo.
This 'bot needs to compete in the “Tabletop competitions” of the HBRobotics club that I’m a local member of. So I’m currently working on adding some IR sensors to watch the tabletop.
First part of the challenge is to navigate the table without falling off.
Second part is to find and push a small block or other object off the table.
Third part is to find and push that object into a “goal”.
cool, you will have to get a video when competing. i like robots like this cos as you say you can just keep adding to it.
yes maybe placing the ps2 on the back might work better now iv seen it.
there also seems to be some wasted space at the bottom behind the motors.
regarding the camera height. maybe if the top deck was more oval allowing it to over hang the rest of the tower, you could then mount the camera to the underside of the to stack. i could draw you an image if iv just confused you.?
the other option, “IMO to be the better one” is to replace the ASB-04 that the gripper in attached to with a ASB-15 so that there is space just above it for another servo to be placed. and then mount the camera off a. off-set bracket as you have it from that.
how are you finding the gripper kit you have used? i almost ordered one but customer feedback on it would be good.
Yeah, it’s really easy. Just add a few spacers, and a new disk!
I’ve got it “rubber-banded” on right now. I just have to keep it out to the way of the sonar sensors I’m planning to add.
The motor controller will be moved down into that space, and I’ve been working on adding the three reflective IR sensors (face table) and two Sharp rangers (looking aft) there.
Not quite following. I was wondering if I could work in a LP bearing to lower the height. But the top aluminum deck is cut. I’ll probably just work on moving on the table first (might even pull off the camera for initial table top tests (cameras are expensive).
Not sure how that would work either. Need the rotate first, and then the tilt, I think? But open to ideas.
The gripper looks fine, although it requires a $6 adapter plate. I had a cut-out in PCB stock, and drilled a few holes in it. The center hole of the angled C bracket needs to be drilled out to match the stub on the gripper. The thicker adapter plate (plastic) gets around this. I hated to drill the hole in the C bracket.
The little gripper on it’s arm looks like it will work quite well. The center of the gripper is about 1.5" above the table top when level. The little arm can be tilted down slightly to allow the tips of the gripper to touch the table. With the arm straight out, the gripper angles the 45 degrees of the bend up. With the little arm up at a 45 degree, the gripper faces straight up, and the motor of the gripper comes up just short of the body. A good, compact fit. Touch sensors would be good on the grippers. I think the gripper is going to work good for cheese!
**[size=150]Micromoose [/size]**in the **[size=150]HBRobotics[/size] **"[size=150]Table Top Challange[/size]".
Well, not really competing, but did make an appearance! Was able to roam the table top, and managed not to fall off.
Floor sensors have been added, and six SRF08 ultrasonic rangefinders with their own PIC uP.
A link to the HBRobotics “Table Top Challange” pix and videos. Micromoose and I are in it, I’ve got a bright blue shirt on. Micromoose has grown up a little (taller).
