Robodyssey Mini Roach

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Robodyssey Mini Roach Assembly Instructions Version 1.

Phone/Fax: 609-585-8535 20 Quimby Avenue Web: www.robodyssey.

2 2. Mini Roach Kit Contents 1 Roach Body 6 Center Servo Support 2 Primary Legs (4) 7 Small Screw Bag 3 Center Legs (2) 8 Linkage Bag 4 Servos (3) 9 Pivots and Spacer Bag 5 Roach Head 10 Long Linkages 2

Part 7 Small Screw Bag 18 6-32 3 / 8 inch screws (4) 18 4-40 3

6-32 ¼ inch button heads (8) Part 8 Linkage Bag 11 Nylon Ball

(1) Threaded Rod Part 9 Pivots and Spacer Bag 15 Female Binder

3 Part 7 Small Screw Bag / 8 inch screws (4) / 8 inch button heads (4) ¼ inch button heads (2) ¼ inch button heads (8) Part 8 Linkage Bag 11 Nylon Ball Sockets 12 Steel Ball Ends Nuts 14 Mid (3) and short (1) Threaded Rod Part 9 Pivots and Spacer Bag 15 Female Binder Post (6) 16 Male Binder Screws (6) 17 1 / 8 x ¼ inch Nylon Washers (6) 3

Some Basic tool and supplies are required for assembly, including: -Phillips Screwdriver -Needle Nose Pliers -Regular Screwdriver -Allen Wrenches Leg Preparation Lay out and

4 3 Assembly Instructions Assembly of the Mini Roach kit will take you about 60 minutes. Be sure to look up the proper part for each step, indicated by the number next to the part name which corresponds to the pictures in Mini Roach Kit Contents. Some Basic tool and supplies are required for assembly, including: -Phillips Screwdriver -Needle Nose Pliers -Regular Screwdriver -Allen Wrenches Leg Preparation Lay out and arrange the body and legs. Figure 1 Figure 2 Attach Ball Pins (12) using the Small Nuts (13) to the holes in the Center Legs (3). Note that one leg has two ball pins, while the other only has one. Assemble as shown in Figures 2 & 3. Take care not to over-tighten the ball pins. Figure 3 4

Now attach six Ball Pins (12) using the Small Nuts (13) to the holes in the

Note that one pair of legs has two ball pins each, while the other pair only has

Figure 4 Insert a Female Binder (15) as shown in Figure 5 and 6.

See Figure 7 Figure 7 Place a Side Leg (2) over the Binding Post (15) and

5 Now attach six Ball Pins (12) using the Small Nuts (13) to the holes in the Primary Legs (2). Note that one pair of legs has two ball pins each, while the other pair only has one ball pin per leg in the innermost hole. Assemble as shown in Figure 4. Figure 4 Insert a Female Binder (15) as shown in Figure 5 and 6. Figure 5 Figure 6 Place 1/8 Nylon Washer (17) over the Binding Post (15). See Figure 7 Figure 7 Place a Side Leg (2) over the Binding Post (15) and Washer(17). Pay close attention to the orientation of the roach. The front of the Roach has two small head mounting holes. A front leg has only one ball joint. See arrows in Figure 8. Figure 8 5

Secure the leg in place with the threaded portion of the Binding Post (16).

The leg should be able to turn with little resistance.

6 Secure the leg in place with the threaded portion of the Binding Post (16). As shown in Figures 9 and 10. Care should be taken as to not over tighten the screw. The leg should be able to turn with little resistance. Figure 9 Figure 10 Repeat the above steps until all 4 Side Legs (2) are installed. As shown in Figure 11. Figure 11 Insert the smooth sided portion of the Binding Post (15) into the center holes of the Roach. Make sure the Binding Post opening points toward the front of the Roach as shown in Figure 12. Figure 12 6

Place a 1/8 inch Nylon Washer (17) over the Binding Post (15). See Figure 13. Figure 13 Start by attaching the leg that has only one ball pin.

The back of the Roach body is the end with the rectangular openings cutout for servos.

Figure 14 Repeat the above step with the remaining leg as shown in Figure 15. Figure 15 Always check the free movement of the legs.

7 Place a 1/8 inch Nylon Washer (17) over the Binding Post (15). See Figure 13. Figure 13 Start by attaching the leg that has only one ball pin. Orient the leg such that the ball pin points toward the back of the Roach body. The back of the Roach body is the end with the rectangular openings cutout for servos. Then, use a long screwdriver to gently tighten the threaded portion of the binding post while securing the backside from rotating as shown in Figure 14. Figure 14 Repeat the above step with the remaining leg as shown in Figure 15. Figure 15 Always check the free movement of the legs. The legs should be able to swing freely without much side to side play. If the leg moves with much resistance, simply loosen the binding screw securing that leg. If the leg flops around loosely, simply tighten the binding screw. Binding post can ware over time. They are commonly available at most hardware stores or building centers. 7

Attaching the Leg Linkages Start by attaching two Ball End Sockets (11) to either side of a Mid Length threaded rod (14) as shown in Figure 16.

As indicated by the arrow in Figure 18, this robot has one leg off the ground. By tightening the Ball End Sockets on the rod, the overall length becomes shorter.

Figure 19 Servo mounting instruction Note: It is not recommended to rotate any servo by turning the horn! Robodyssey recommends centering servos electronically.

8 Attaching the Leg Linkages Start by attaching two Ball End Sockets (11) to either side of a Mid Length threaded rod (14) as shown in Figure 16. Figure 16 Attach the two Mid Legs together as shown in Figure 17. Figure 17 Figure 18 It is likely you will have some adjustments to make in the length of the linkage. As indicated by the arrow in Figure 18, this robot has one leg off the ground. By tightening the Ball End Sockets on the rod, the overall length becomes shorter. Tweak with the rod length until a perfect balance is attained and all six legs are on the ground as shown in Figure 19. Figure 19 Servo mounting instruction Note: It is not recommended to rotate any servo by turning the horn! Robodyssey recommends centering servos electronically. See appendix A for a simple software routine to center servos connected to a Robodyssey advanced motherboard equipped with a Basic X processor. Always exercise caution when running a servo the first time. An overdriven servo may strip its gears on the first run. 8

Insert a centered Servo (4) into one of the rectangle cut outs in the rear of the

See Figure 20 Figure 20 Repeat with the other side.

Figure 21 Attach the last centered servo to the back of the Center Servo Support piece

Be sure to test the orientation of the servo prior to setting it in.

9 Insert a centered Servo (4) into one of the rectangle cut outs in the rear of the Roach. Secure it in place with four 6-32 button head screws (21). See Figure 20 Figure 20 Repeat with the other side. You should now have a robot that looks like the one in Figure 21. Figure 21 Attach the last centered servo to the back of the Center Servo Support piece (6) using four 6-32 x 3/8 inch screws (18) as shown in Figures 22 and 23. Be sure to test the orientation of the servo prior to setting it in. The servo needs to have its drive spline on the opposite side of the free Center Leg ball. Take a look at Figure 24. The arrow points to the leg that has the available ball. Figure 22 Figure 23 9

Place a servo horn with a ball securely attached to the center hole on the servo spline.

Be sure to secure the horn in place with a small servo screw. Figure 23 Center Servo in place.

If the Servo horn is on the same side as the available ball, the robot will not function. See Figure 24.

10 Place a servo horn with a ball securely attached to the center hole on the servo spline. With the servo in center, place the horn over the shaft such that the horn points in the direction of the arrow. Be sure to secure the horn in place with a small servo screw. Figure 23 Center Servo in place. Note: the arrow points to the leg with the attachment ball. If the Servo horn is on the same side as the available ball, the robot will not function. See Figure 24. Figure 24 Attach and secure the Center Servo with four /8 inch button head screws (19) as seen in Figure 25. Figure 25 Connecting the linkages Screw two nylon Ball Socket Ends (11) onto either end of a Long threaded rod (10) as shown in Figure 26. Figure 26 10

Place the Roach on a flat surface and position the legs perpendicular to the body and

Adjust the length of the bar by tightening or loosening the ball socket ends until the

Figure 28 Using two 2-56 nuts (13), secure balls (12) onto two servo horns.

Outer holes will increase speed but decrease torque.

11 Place the Roach on a flat surface and position the legs perpendicular to the body and parallel to each other. Snap one end of the long threaded rod on one of the inner balls. Adjust the length of the bar by tightening or loosening the ball socket ends until the bar is the right length to secure the legs together while maintaining their position. See Figure 27. Figure 27 Repeat the above step until both sides are complete as shown in Figure 28. Figure 28 Using two 2-56 nuts (13), secure balls (12) onto two servo horns. We prefer to use the middle holes on the horns. Outer holes will increase speed but decrease torque. BlueBird Servo Horns Hitec Servo Horns (Note: 2 pieces) Figure 29 Secure the Side Leg Servo horns and balls onto the Servos as shown in Figures 30 and 31. Be certain to have the horns pointing as strait up as possible without rotating the servo from its center position. 11

Figure 30 Figure 31 Attach two Ball End Sockets

then to the other as shown in Figures 32 and 33.

as the servo arm stays in its mid point, the

Figure 32 Figure 33 Attach two Ball End Sockets

12 Figure 30 Figure 31 Attach two Ball End Sockets (11) to either side of a Mid length threaded rod (14) as shown in Figure 31. Figure 31 Attach the linkage first to one side then to the other as shown in Figures 32 and 33. As before, adjust the length of the rod so that as the servo arm stays in its mid point, the leg stays in its mid point as well. Figure 32 Figure 33 Attach two Ball End Sockets (11) to either side of a short length threaded rod (14) as shown in Figure 34. Figure 34 Attach the linkage as shown in Figure 35. As before, adjust the length of the rod so that as the servo arm stays in its mid point, the leg stays in its mid point as well. Figure 35 12

Attach the Head (5) with two 4-40 ¼ inch screws (20) as shown in Figure 36.

(If optionally equipped) Place three ¼ inch nylon spacers on the back of the

The third is just floating on the back and is used to hold the board away

Figure 37 Attach the RAMB with two 4-40 ½ inch screws.

13 Attach the Head (5) with two 4-40 ¼ inch screws (20) as shown in Figure 36. Figure 36 Attaching a Robodyssey Advanced Motherboard (RAMB). (If optionally equipped) Place three ¼ inch nylon spacers on the back of the Roach. Note: Only two will line up with holes in the front. The third is just floating on the back and is used to hold the board away from the aluminum. See Figure 37. Figure 37 Attach the RAMB with two 4-40 ½ inch screws. Figure 38 Plug the Servos into the RAMB. Make sure the signal (the lightest colored wire) is closest to the processor chip and the ground wire is on the edge of the board. 13

14 Figure 39 Place the Velcro strap through the body as shown in Figure 40. Figure 40 Figures 41 and 42 show the mounting of the Robodyssey adjustable Sharp bracket. Figure 41 Figure 42 14

Plug in a battery and YEA! Your Done! Appendix A Servo centering code PulseOut sends a signal out the pin X for whatever time (in this case 0.

15 Plug in a battery and YEA! Your Done! Appendix A Servo centering code PulseOut sends a signal out the pin X for whatever time (in this case sec) ***************************************************************** Option Explicit Public Sub Main() Dim j as Integer For j = 1 to 20 Call PulseOut(5, , 1) Call PulseOut(6, , 1) Call PulseOut(7, , 1) Sleep(0.02) Next Number of pulses the servos receives Get 20 pulses..plenty to move them Servo connected to Basic X pin 5, Pin 0 on RAMB Servo connected to Basic X pin 6, Pin 1 on RAMB Servo connected to Basic X pin 7, Pin 2 on RAMB Time between pulses End Sub ***************************************************************************** Sample walking code '******************************************************** 15

16 '************************ROACH************************** 'Mini Roach - Hexapod w/ Forward Sharp Sensor '@ Version 1.0 '@ Author: Brian Patton '@ Last Updated: Oct 15, 2003 '******************************************************** '************* Declare Constants ************************ Public Const LeftServo As Byte = 6 Left servo connected to RAMB pin 1 Public Const RightServo As Byte = 5 Right servo connected to RAMB pin 0 Public Const CenterServo As Byte = 7 Center Servo connected to RAMB pin 2 Public Const IRPin As Byte = 13 Public Const LeftServoMin As Single = ' Amount Back Public Const LeftServoMid As Single = Public Const LeftServoMax As Single = ' Amount Forward Public Const RightServoMin As Single = ' Amount forward Public Const RightServoMid As Single = Public Const RightServoMax As Single = ' Amount Back Public Const CenterServoLeft As Single = ' Rise in Right Leg Public Const CenterServoMid As Single = Public Const CenterServoRight As Single = ' Rise in Left Leg Public Const ServoCommandSleep As Integer = 10 ' 10 x 1/512 second =0.0195sec Const ServoPulses As Byte = 15 '******************************************************** '************* Declare Variables ************************ ** Public LeftServoPos As Single Public RightServoPos As Single Public CenterServoPos As Single Public SensorValue As Integer Public SensorAve As Integer Dim i As Byte Dim j As Byte Dim ContinueForward As Boolean '******************************************************** '************* Main ************************************* Sub Main() 'Start of Main Program Sleep(3.0) ContinueForward = True Do If ContinueForward = True Then LeftServoPos = LeftServoMin RightServoPos = RightServoMax CenterServoPos = CenterServoRight Call CheckSensors() LeftServoPos = LeftServoMax RightServoPos = RightServoMin CenterServoPos = CenterServoLeft Call CheckSensors() Else Sleep(1.0) End If Loop End Sub 'Main Program '****************************************************** '****************** Check Sensors ********************* Sub CheckSensors() 16

17 SensorValue = GetADC(IRPin)+GetADC(IRPin)+GetADC(IRPin) ' Get three IR readings SensorAve = Sensorvalue \ 3 ' Divide them by 3 to get the average ' Helps eliminate some error Debug.Print CStr(SensorAve) Print value on the screen If Sensorave > 500 Then ' See if something is too close Call TurnRight ' Call right End If ' End of too close scenario If Sensorave < 250 Then ' See if something is too far like an edge Call Backup Call TurnLeft ' Call right End If ' End of too far scenario End Sub '******************************************************** '***** Turn left **************************************** Sub TurnLeft() Dim i As Byte For i=1 To 3 CenterServoPos = CenterServoLeft RightServoPos = RightServoMin LeftServoPos = LeftServoMin CenterServoPos = CenterServoRight RightServoPos = RightServoMax LeftServoPos = LeftServoMax Next End Sub '******************************************************** '***** Turn right *************************************** Sub TurnRight() Dim i As Byte For i=1 To 3 CenterServoPos = CenterServoLeft RightServoPos = RightServoMax LeftServoPos = LeftServoMax CenterServoPos = CenterServoRight RightServoPos = RightServoMin LeftServoPos = LeftServoMin Next End Sub '******************************************************** '******** Backup **************************************** Sub Backup() Dim i As Byte For i=1 To 3 CenterServoPos = CenterServoLeft RightServoPos = RightServoMax LeftServoPos = LeftServoMin CenterServoPos = CenterServoRight RightServoPos = RightServoMin LeftServoPos = LeftServoMax Next End Sub '******************************************************** '******** Center Legs *********************************** Sub CenterLegs() 17

18 CenterServoPos = CenterServoLeft RightServoPos = RightServoMid CenterServoPos = CenterServoRight LeftServoPos = LeftServoMid CenterServoPos = CenterServoMid Sleep(2) End Sub '******************************************************** '******** Send Commands to Servos *********************** Sub SendServoCommands() Dim j As Byte For j = 1 to ServoPulses Call PulseOut(CenterServo, CenterServoPos, 1) Sleep(ServoCommandSleep) Next For j = 1 to ServoPulses Call PulseOut(LeftServo, LeftServoPos, 1) Call PulseOut(RightServo, RightServoPos, 1) Call PulseOut(CenterServo, CenterServoPos, 1) Sleep(ServoCommandSleep) Next End Sub 18

Robodyssey ESRA III. Expressive System for Robotic Animation

Robodyssey ESRA III. Expressive System for Robotic Animation Robodyssey ESRA III Expressive System for Robotic Animation Assembly and Operation Instructions Version 1.0 Robodyssey Systems, LLC. Phone/Fax: 609-585-8535 20 Quimby Avenue Web: www.robodyssey.com Trenton,