Mr.Flex (Pimp My Ride) - Bridge on the River Qwai
@ May 30, 2009
- Actuators / output devices: PolyMorph Suspension and PolyMorph Universal Joints
- Control method: Autonomous and IR Control
- CPU: Arduino Duemilanove
- Operating system: C
- Sensors / input devices: Ultrasonic sensors
- Target environment: Outdoor - Semi rough Forest track, Jumps Small Cliffs
UPDATE :- Bridge on the River Kwai - Autonomous - New programming - mega fast speed - faster sensor response -
"Rollover-Bar" in action.
On Board Video (Radiocam) showing how the Universal Joints spin circles.....
PolyMorph Rollover Cage installed to protect Electronics.
(however i have to redesign the front end for sensor protection).
Polymorph Protection plate intalled underneath to protect Gears from rocks etc.
My current contender is taking Shape with the added help of PolyMorph.
Intended to go where no other Mr.Basic would dare go......... "Off Track"
To acheive this i have been creating some rather cunning Suspension systems.
Its highly like-ly that during the making of this Bot, its name may also transform (-: just like PolyMorph :-)
First Video :- Bridge on the River Kwai - Autonomous - New programming - mega fast speed - faster sensor response.
Second Video :- Autonomous Mystery trip around our center.
Third Video :- Autonomous Mystery trip around house.
Fourth Video :- the progress of the Project.
It includes sequences of how the PolyMorph bits where made.
Fifth Video :- the PolyMorph Suspension system © in Action.
Sixth Video you can see the very First Test of the PolyMorph Universal Joint ©.
Its a very flexible system - the suspension uses around 2cm of travel, which is only a 10° angle difference for the joint,
it can be bent almost 90° and still gives drive (the motor has to work a little harder though).
Seventh Video :- the Turning Ability with On-Board Radio Camera.
(1) Polymorph extruded solid tube suspension (1.5 cm travel)
Failed (worked but to floppy - gear meshing not ideal)
(2) PolyMorph Bracket (1.5cm travel)-
Failed (Worked but gear Meshing not so good on extreme down stroke, plus the wheels where at a stupid angle)
(3) PolyMorph Universal Joint © (2cm travel) ----- Looking Cool
Using a 2cm piece of the extruded PolyMorph solid tube .......from the failed (1) suspension unit.
I clamped it between two brass collets and Hey Presto a PolyMorph universal joint ©.
What this means is when you turn one brass collet the other turns to ......... no matter what angle you put it at
The PolyMorph is flexible enough to bend and be driven at the same time.
The only thing left to do is to intergrate the black axle holders into the front black middle part (with PolyMorph).
The Geometry of the gear meshing should stay is perfect and stable.
The Spring in the middle is easy to adjust for tension (-: but has to be secured before it hits any rough ground :-)
Although its not independent suspension (ie one spring per wheel) i am hope-ing that the torsional aspect of the connected wheels will be enough to get it out of trouble.
Installed a Polymorph GearGuard to stop the underneath plastic gears from hitting rocks and things.
Because it will be carrying more Electronics - i have fitted it out with a PolyMorph Roll-Over Cage. You can see this in action last part of the "Bridge on the River Kwai" video.......
Installed a Polymorph GearGuard to stop the underneath plastic gears from hitting rocks and things.
However i have to make some kind of Magnetic release system for the "Did-He-Think-He-Sauraus" eye-ear part.
BTW. The eye/ear PolyMorph piece increases his Ultrasonic sensitivity and range.
The Arduino is fitted with a Motor Shield and the Ultrasonic Sensor is connected to a scanning servo.
The Motor shield has been "PiggyBacked" ie doubling up the L293D drivers to share the high motor current.
@ Sun, 2009-07-05 15:13
Final vote
Ok, I decided to follow mintvelts suggestion and give 5 stars for my Nr. 1, 4 stars for Nr.2 and so one, to give a clearer result for this contest.
@ Sun, 2009-07-05 04:59
Great work, it's been
Great work, it's been facinating watching the development of Mr Flex.
To me this is the best example of what things can be done with the chassis, & a great demonstration of where you can take the DAGU Mr Basic Kit.
Very creative, well done.
@ Sun, 2009-07-05 11:17
It is actually a super Chassis
Yes it just goes to show how good the Chassis actually is.
(i have now bonded with my chassis ....wait...no.... that was an accident with HotGlueGun)
With a few minor modifications - in the direction of flexibility and drive durability its a super product.
Best Regards Gareth
@ Sun, 2009-07-05 02:09
I love the little Alien like
@ Sun, 2009-07-05 11:19
Rapid-Prototyping PM
When i model with PM its like i am in another world.
I even used it to make a custom nose piece to convert an old pair Oakleys lenses to fit onto my glasses :-)
Its relatively low priced and from my experience a small amount goes a long way - Somehow when you put the PM pellets into Hot water then expand extra by a quarter !!!!! (anyone else notice this - or is it my PM glasses) - so i always miss-calculate how much i need..
Best Regards Gareth
@ Sun, 2009-07-05 00:50
looks great
It is obvious that you are very good at using polymorph
@ Sun, 2009-07-05 11:00
I have never before found such a material......
PolyMorph is an amazing substance......
...... once you work out it can be reformed and reworked very easily then anything is possible with this lowmelt plastic , plus its very strong.
(however some say its not stable to light and ages with time).
The Original PolyMorph universal joints are still working on Mr.Flex and show no signs of wear.
Experimentation with the thickness give the possibility of Using it for Flextion/torsion ......super for suspension systems.
@ Fri, 2009-07-03 01:13
The vote
Since Frits wants vicious cruelty in the voting I am only giving this 4 stars.
The polymorph suspension was very original as was the body in it's various transitions. He is quick and avoids obstacles well demonstraighting good code. Your videos are well done and always entertaining.
The only reason I offer for giving Ant the 5th star and not you is because I am a sucker for a good lightshow and I love the retro look which has it's own technical challenges.
@ Wed, 2009-07-01 22:40
Excellent production
@ Tue, 2009-06-30 22:20
Mr Flex get serious. Awesome!
@ Tue, 2009-06-30 22:52
Thanks for the Vote casting
Yes it was only until i threw out the old code - which was a bit too linear - that Mr.Flex came into "sync"
New c code contains more gosub routines which Mr.Flex enjoyed , even i was shocked at his "Quantum Leap"
His motor power pack is still only the original 3.6V nicads driven by my secret trick (piggybacking 2 motor control chips together to share the high current loading of the motors by half) - the old programming heated the chips up - i even prepared a Heatsink ready - however to my amazement the new coding allowed the chips to stay cool.......
........ i have a theory that most things have a soul and since this project Robots are now included on my "Talking Too" list.
@ Tue, 2009-06-30 02:36
I enjoy all of your
@ Wed, 2009-07-01 23:09
Thanks for the compliments
For Sure the inspiration from the other Robots @LMR has really been the driving force behind my robotic "Tribe".
Mr.Flex is not as clean and tidy looking as your "my 1st robot" though....
@ Sun, 2009-06-28 01:05
Very Nice :D
@ Sun, 2009-06-28 02:17
Bridge on the River Kwai - Mr.Flex gets serious
I Have just reprogrammed Mr.Flex from "Scratch" using gosub routines (who said gosub routines slow down the processing).
-He Now goes like the Wind and reacts mega fast to objects.
-His "Roll-Over Bar" works and protects his electronics well - (-: tested:-)
However he cant whistle as well as his fellow British crew .... see video "Bridge on the River Kwai - Autonomous"
@ Mon, 2009-06-22 23:43
Very disobediant isn't he :D
@ Tue, 2009-06-23 00:15
Emergent AI?
Mine seem to have the same disobedient streak, too. It might be true AI starting to emerge. :)
Awesome work Gareth. Love the vids.
@ Wed, 2009-06-24 14:27
Yeah -who needs a rats-brain when AI and "Fuzzy Logic" shine.
What with the recent "Rats-Brain" controlled robot - (which is totally sick by my ethics)
AI and clever environmental programming is a far more acceptable way to go.
The general term i use for my Mr.Flex responses is called "Fuzzy Logic" ,
ie take in all the quantitative factors, make a clear decision - then parse it through a "Fuzzy Logic" filter (real world) and do what the watching audience want.
(Leaves me with a question in the same direction .....does the the fridge light go out when you close the door?).
@ Mon, 2009-06-22 21:43
:D
@ Mon, 2009-06-15 04:33
I want more video!
@ Mon, 2009-06-22 18:04
Mystery Trip Mr.Flex goes "Walkabout"
Mystery Trip Mr.Flex goes "Walkabout".
So sit back and enjoy - i had problem with ultrasonic sensor (maybe after desoldering - resoldering etc its developed an "waggle-contact")
So to get me going again....... i have hot glued a sharp to the top of it until a replacement ultrasonic arrives (on the way). (the ultrasonic module is still controlling the servo though through serial link :-)
Autonomous mode still need a bit of tune-ing (ultrasonic was 10x better whilst it was working).
@ Sun, 2009-06-14 23:27
Very nice Polymorph work! I
Very nice Polymorph work! I love the skeleton and the 'front face'!
Looking forward to see it in action ;-)
@ Sun, 2009-06-14 18:29
Is that a StegosauruBot?
That thing is so cool. You sir are an artist! I think including the tail was perfect. Does it (the tail) move?
I believe you will be one of the top point getters when all is said and done. But, I'm withholding my votes until the end... just to be fair :)
@ Sun, 2009-06-14 22:52
He acts like a Did-he-think-he-saurus
He acts more like a "Did-he-think-he-saurus" i think.
Thanks for the Vote of confidence :-)
The tail is made out of quite thin and very flexible polymorph at present -
- however when i was making the tail the thought did cross my mind to make it more mobile and to connect it to a switch ie for when it backs up into something and add some kind of strange response.
@ Mon, 2009-06-22 20:42
Poly-Morph Outer Shell take-ing shape pizza style
Spent the whole afternoon experimenting with some PolyMorph sculpture-ing - and i am very pleased with the results.
Had to use a rolling-pin and using a Pizza-base style technique to get real-ultra thin PolyMorph.
Then with the use of a portable soldering iron with "Heat-Gun" attachement the Spine-Ribs-Tail and Head Eye-Ear body parts where sculptured.
@ Wed, 2009-06-10 23:04
lol, nice work, it would be
@ Thu, 2009-06-11 00:50
Turning is no problem
The turning is no problem - third video shows it capabilities. (direct motor drive)
I am currently working on the Arduino Motor interface programming - (which works fine - phew it was touch and go i must say).
I just have to work out its strategies on obstacle detect - just a case of choosing interesting (unpredictable) responses.
The current physical layout is just temporary (velco wrap) untill the polymorph skeleton shell is finished.....
@ Sun, 2009-06-07 16:10
Mr.Bean - Mr.Green - Mr.Spiderman roped in to help
The Dream Team have arrived to install the Electronic goodies.
Arduino based with motor controller and ultrasonic sensor - plus a proposed IR fail safe and temparature probe on the motors controllers (in case of fire).
Mr.Beans attempt to make ultrasonic eye stalks failed --- Has he got something else up his sleeve-------(oh Yes)
Mr.Green has been beef-ing up the motor controllers to cope with the extra loads with a crafty Piggyback technique - however if he programmes it incorrectly then "Bang" it will go ... we have trust in you Mr.G
Mr.Spiderman is weaving his web of mystery and will be catching any stray flys that may end up in the gear train. His polymorph system is still operating - even he is impressed by how long it has lasted......
@ Mon, 2009-06-08 13:10
What ultrasonic sensor do
What ultrasonic sensor do you use? Looks damn cool, I never seen this before.
EDIT: OK, I see its a URM37 from Dreamfactory.
@ Thu, 2009-06-04 05:36
Just don't leave it in your
@ Sat, 2009-06-06 09:41
Austrailian Heatwave
Yes that was a pretty site.......
Maybe i am lucky to have the cooler climate of Switzerland :-)
@ Wed, 2009-06-03 23:36
Very good looking!Keep it
Very good looking!
Keep it out of the sun and away from heat.
The same characteristics that make polysmurf easy to use, makes it fragile and sesnitive to light and heat. Also, it ages poorl;y and weakens over time becomeing very fragile. This is based on personal experience.
Consider painting it for protection and added life..
@ Sat, 2009-06-06 09:38
Thanks for the concern
Thanks for the warning.
I am using the Polymorph as a "Rapid Prototyping" medium and yes is short term.
I am still new to Polymorph so i have no idea how it changes with the elements.
Apart from that you will be happy to hear that the polymorph universal joints are still working fine - and they have been through quite a few experiences.
I have yet to find out a good way to colour the stuff....any ideas node6078
@ Wed, 2009-06-03 23:29
nice
It is coming along great! :D 5 stars.
Maybe it can hatch little alien eggs in the future lol.
@ Tue, 2009-06-02 21:26
Are the motors just direct connect?
In your spinning around video, are the motors connected to the battery or do you have a controller/regulator in between?
Pretty cool so far. I need to get cracking on mine.
@ Tue, 2009-06-02 22:30
Direct Drive 3x1.2V 2450mAh
In the Spinning Video its using a direct power supply using 3x1.2V Energizer rechargeable 2450mAh batteries.
This was to test the new universal polymorph axles as you can see from the Video they are quite active, and difficult to catch - if the wheelbase was shorter then it would spin faster - it tends to skid steer. (it needs a differential gearbox really)
In the next few days the Electronics will be shoe-horned in with a motor controller (arduino based).
Good luck with your entry cant wait to see it........
@ Tue, 2009-06-02 10:42
Chapeau
@ Tue, 2009-06-02 16:31
It was real fun to make the Vids
Thanks for your Support.
It was real fun to make the Video - its like Therapy - and always something happens that shouldnt.
@ Tue, 2009-06-02 01:04
Nice suspension, Great Cage design
Nice suspension, Great Cage design and super videos!... A wining combination.
BTW, The falling wheel is because a defect of the shaft or its un-screw itself like mine do?
I decide to remove the spacer and put a second nut, then tight it before mounting the hole Assembly.
@ Tue, 2009-06-02 02:30
Damn actors
You looked quite comfortable in the directors chair and then your lead actor had a hissy fit and spat the dummy (or wheel in this case). Is it any wonder computer animation is so popular these days :D
Try some thread lock or supaglue on the wheel nuts.
Looks super cool, have you got room for circuitry? Will it be autonomous or remote controlled?
@ Tue, 2009-06-02 21:19
The Goal is Autonomus for the Pre-madonna
i have to fit an arduino plus Ultrasonic servo unit so the Shell (Rollover Cage) will be replaced with a better thicker version -
Plan is for it to drive Autonomus around a local par-course (woodland running track lined each side with wooden barriers.
First i will get it remoted with IR chip and TV remote
Then the Ultrasonic mech for eyes -
- so my brain is trying to calculte the geometry of the extra polymorph... (pictures of Alien come to mind)
@ Mon, 2009-06-01 21:57
This is really cool. The
@ Tue, 2009-06-02 16:29
Super Question Ajster
Glad you like it......
You are correct the present polymorph is more of a BounceBar - i need to make it about 2mm thick and then it will be rock steady, i will be remoulding it soon.
My son wants me to make some kind of Dinosaur design ( i would like more Alien)
PolyMorph is a fantastic material to work with - best part is if you make a mistake then you can throw it back into hot water and start from new again....... i just love it
@ Mon, 2009-06-01 21:49
i think 100nF is okotherwise
i think 100nF is ok
otherwise you could try a pi filter for a more serious suppression:
http://en.wikipedia.org/wiki/Capacitor-input_filter
@ Mon, 2009-06-01 20:46
Motor Noise - Supression - Capacitor calculation - any ideas
It was not untill i hooked a radio Video Cam to Mr.Flex that i realised how much Electrical Noise it threw out .
You can see the horizontal noise patterns on the "Picture in Picture" video (Mad Max Video Update above)
Is there any rule of how to calculate what capacitors are needed across the motor terminals ¿
@ Tue, 2009-06-02 10:37
If one 100nF capacitor
@ Mon, 2009-06-01 23:45
I agree with noise 0
@ Mon, 2009-06-01 20:43
wait i was thinking to a
wait i was thinking to a poly-exoskeleton for my next bot too
you stolen my idea :)
@ Mon, 2009-06-01 21:35
Great Minds Think Alike
It was just by chance this afternoon that i was using a Hairdryer to heat up a long flat peice of PolyMorph that the Ribcage Roll-OverBar came into being.
Yes the PolyMorph is very bone like in apperance and feeling.
@ Tue, 2009-06-02 18:13
Proposed New Shell Design - Mr.Alien
I will be making a new shell - bit thicker and more ambitious with an Alien Theme (or maybe Dinosaur)
I will have to Desolder the Ultrasonic sensors and extend them with shielded cable so that i can hide the cables into the eye stalks, well thats the plan ...... if i have enough polymorph left.......
I have to work out the base for the eyes as i would like to scan them Left and right.