ARobot

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ARobot

This project was submitted to Parallax by Roger Arrick of Arrick Robotics

The ARobot (pronounced "A robot") is a computer controlled mobile robot designed for Experimenters and Educators. Ages 14 and up (younger with help) can enjoy unlimited experimentation by programming the on-board BASIC Stamp 2 control computer. Learn about computer programming, motion control, sensors, path planning, object avoidance, and more. Easily assembled in a few hours using common hand tools (no soldering required). The ARobot is connected to a personal computer for programming.

Features:

Rugged aluminum frame (no plastic or wood)
Dual front whisker sensors
Rear wheel steering servo motor
Front wheel DC gear drive motor
Optical wheel encoder for distance measurement
On-board coprocessor handles all motor control
Controllable Red and Green LED's
Sound output transducer
Two user defined push button switches
3 User-defined RC servo control ports
Serial communications port
Expansion connector
Socket to accept a BASIC Stamp 2 microcontroller
Dimensions: 10" x 10", 5" tall, 2-1/4 lbs
Runs on 8 AA-cell batteries for 5 hours or more

BASIC Stamp 2 is the ARobot's programmable brain

The BASIC Stamp 2 is a small, self-contained computer controller manufactured by Parallax Inc.
This easy-to-use system is programmed using a Basic-like language called PBASIC. Programs are
written on an IBM-style PC then downloaded to the BASIC Stamp 2 for execution. Large libraries
of programs can be created and saved.

ARobot's controller board accepts the BASIC Stamp 2 (not included) which controls motors,
LED's, buzzer, and other devices. The Parallax Web site provides complete information about the
BASIC Stamp microcontroller line as well as a free download of the programming manual.

Uses of ARobot

Robotics education
Artificial life experiments
Science projects
Navigation research
Maze solving
Security
Robot contests

What you get

Quality aluminum robot body and frame components
Controller circuit board - completely assembled
Diskette containing programming tools and example programs
Wheels, drive motors, steering motors, encoder, cables
Construction and user guide
Technical support via web site and email
Add your own BASIC Stamp module

What you need
ARobot can be built and programmed by almost anyone!

Common handtools - screwdriver and pliers
Your choice of spray paint (if desired)
Personal computer running Windows and a serial port
Common understanding of computer usage
Moderate understanding of Basic programming or a willingness to learn
8 AA batteries. (over 5 hours of continuous run time)
BASIC Stamp 2 programming information -available free on the net, or purchase the book
Internet connection for getting the latest information
A never-ending desire to experiment and play with robots!
Construction normally takes about 3 hours. - or more for exotic paint jobs!

Expandability

ARobot's controller board has the ability to control 3 additional RC (Remote Control) servo
motors which are commonly available at hobby stores for less than $20 each. These motors can
be used to create a small robot arm or a moving head. The body contains openings to mount 2
of these RC servo motors.

The controller board also provides a connector to power a small DC motor like the one used
as the drive motor. This connector can also be used to control other high-power devices such
as a light or horn.

An expansion connector is provided to allow the user to add many special devices. Access to
all of the BASIC Stamp module's I/O signals is provided and unused pins can be wired as needed.

Additional circuit boards can be stacked on top of ARobot's main controller board. Mounting
holes and dimensions are the same as the prototype boards (RS Catalog #276-170) and breadboards
(RS Catalog #276-174) found at RadioShack. This makes expansion easier and at a low cost.

Visit the Arrick Robotics project page for ideas such as using a sonar range finder and interfacing to a smoke alarm.

The expansion port offers:

All BASIC Stamp I/O signals
Coprocessor network signal
3 standard RC servo motor signals
Access to coprocessor network bus
User defined signals
Standard 40 pin flat ribbon cable
Other signals can be wired by user

Possible devices include:

Additional whiskers
Sonar range finder
Smoke detector
Light sensors
Digital compass
Tilt sensors
IR communications

Technical Specifications

Frame: .062 aluminum - cut, punched, and formed
Configuration: 3-wheel, front wheel drive, rear wheel steer
Dimensions: 10" x 10", 5" tall, 2-1/4 lbs
Payload capacity: 3 lbs
Wheel size: 3.25" diameter
Drive Motor: 12 volt DC gear motor, 1.6 amp max
Quality machined wheel coupling and bearings
Optical wheel encoder for distance measurement
Encoder (shown below): 20 counts per revolution - 2 per inch of travel
Motor driver: H bridge - 1 amp max
Speed control: Pulse Width Modulation
Controller PCB size: 2.1" x 6"
Steering Motor: Standard size RC servo motor
Power source: 8-AA cells in removable pack
Runs on 8 AA-cell batteries for 5 hours or more
Current draw: 50ma at standstill, 200ma with motor running
Coprocessor: PIC16F84 for motor control
Expansion connector - 40 pin (2x20) IDC .1 centers

Visit the Arrick Robotics web site for more information.