TRM Navigation Robot
@ April 29, 2009
- Actuators / output devices: 12 Servos
- Control method: autonomous
- CPU: Atmel Mega32
- Power source: 7.2V NiMH from 6 D cells
- Programming language: Bascom Basic
- Sensors / input devices: Long Range Sharp IR
- Target environment: indoors/outdoors/small areas
Updated on 2/15/09.
I've added a couple new pictures. Its running, but not optimized. Testing will follow, then I'll post some navigation video's, etc.
This is my navigation robot named TRM.
The game plan here is a simple small scale navigation robot.
But also to look visually interesting to promote robotics/science/technology.
I taught some of my local robotics group members with this robot build, as some of them have not built a robot before. So its construction wasn't as fast as I'd like it to have been.
The basic parts list is:
1 or 2 Wright Hobbies controllers - Atmel Mega 32
2 or more Sharp Long Range IR sensors (I've removed the sensor servos from the design, not needed)
Sensor mounts and switch mounts are hand made from aluminum sheet
1 Devantec Compass
1 Ashtech GPS module and antenna
Battery's, I've switched to NiMH "D" cells instead of the LiPo packs for servo power
Controller battery's are parallel NiMH 9v cells
Servos - 6 Steering Hitech brand HS-311, 6 Drive GWS brand S03NXF
Servo mounts are hand made from Delrin blocks
Chassis is made from Lexan sheets, and hand made Standoffs
Wheels are Dave Brown Lite wheels 3" tall
General attachment - Servo tape is a wonderful invention (even better than duct tape!!!)
Programming - I prefer to use Bascom for Atmel microprocessors
Its running, but I'll add more later on.....
@ Tue, 2010-03-02 15:16
How it will climb
hai cool.......... a big idea (with 12 servos)............ but what it will do while reaching the stairs.............
@ Tue, 2010-03-02 15:08
Wow
@ Wed, 2010-02-17 23:39
This reminds me of a type of
This reminds me of a type of vehicle used for moving and unloading extremely heavy loads.
All wheels independent, ran using hydraulics. They can be connected in series or parallel for extra big/wide loads.
Good job.
@ Wed, 2010-02-17 08:46
thats damn cool
thats damn cool
@ Tue, 2010-02-16 08:33
what kind of motor
@ Wed, 2010-02-17 02:41
RE:
None, servo's have a PPM circuit inside so all that needs to be done is mod them for continuous rotation. The 6 drive servos have this done. The steering ones don't need continuous rotation.
http://www.winfieldrobotics.com/rangerx.html
PPM stands for:
P - pulse
P - position
M - modulation
@ Tue, 2010-02-16 09:25
This robot uses continuous
@ Tue, 2010-02-16 03:05
I like the
@ Sat, 2009-08-22 13:54
Why did you change from lipo
Why did you change from lipo cells to D cells? Safety? Please share your build decisions!
@ Sat, 2009-08-22 19:48
Lipo's are the way to go
Lipo's are the way to go overall. But I switched because of the cost of the lipo charger, and the D battery holders add a rigid reinforcement to the chassis. Plus the servos don't draw that much current, so the D cells provide a long enough run time for this application. But I might switch back later on, if run time becomes an issue.
A couple of my local robotics group members want to try a variation of magellan, where the robots run the bases of a baseball diamond. Personally I want to build a larger SRS Magellan robot. So this is my test robot to work the bugs out before actually building a large scale version from a wheelchair base. So this robot is destined for the baseball diamond game, which should be a good method for testing navigation strategies, for when I build the larger robot.
Here's a video showing my wheelchair base navigation robot http://www.youtube.com/watch?v=rgPSAVHrFHI
Here's a friends magellan robot, test run http://www.youtube.com/watch?v=EaSIBotWhAg