Combination Report Einstein Robot



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Bill of Materials

Part Name

Part Number

Vendor

Quantity

Cost

Notes

TETRIX Single-Servo Motro Bracket

W739060

Lego Education

3

10.95/2

 

TETRIX Single-Servo Motro Bracket*

W739060

Lego Education

1

10.95/2

*modified for thumb

HiTech HS-475 HB Servo

W739080

Lego Education

3

24.95/1

 

Large Servo*

NA

Robotics Lab

1

NA

*mountin tabs cut off

TETRIX Tube (220mm)

W739076

Lego Education

2

9.95/2

 

TETRIX Tube (220mm)*

W739076

Lego Education

2

9.95/2

*cut to make chain tight

TETRIX Tube (220mm)*

W739076

Lego Education

1

9.95/2

*cut to for elbow joint

TETRIX Split Clamp

W739078

Lego Education

1

7.95/2

 

TETRIX Split Clamp*

W739078

Lego Education

3

7.95/2

*clamp cut for clearance, set screws added

TETRIX Split Clamp*

W739078

Lego Education

1

7.95/2

*set screw added

TETRIX Tubing Plug Pack*

W739193

Lego Education

8

2.95/2

*8mm holes drilled for servo wire routing

TETRIX L Bracket

W739062

Lego Education

8

5.95/2

 

TETRIX L Bracket*

W739062

Lego Education

2

5.95/2

*cut to mount base to 120T gear

TETRIX Axle Set Collar

W739092

Lego Education

3

3.95/6

 

TETRIX Bronze Bushing

W739091

Lego Education

5

15.95/12

 

TETRIX Bronze Bushing*

W739091

Lego Education

2

15.95/12

*cut to length for shoulder joint

TETRIX Axle Spacer (1/8")

W739100

Lego Education

8

1.95/12

 

TETRIX Gear (40T)

W739028

Lego Education

3

24.95/2

 

TETRIX Gear (120T)

W739085

Lego Education

2

29.95/1

 

TETRIX Gear (120T)*

W739085

Lego Education

1

29.95/1

*tapped to mount L bracket at shoulder

TETRIX DC Drive Motor

W739083

Lego Education

2

29.95/1

 

TETRIX Motor Encoder Pack

W739140

Lego Education

2

79.95/1

same as US Digital E4P-360-236-D-H-T-3

TETRIX 16T Sprocket

W739165

Lego Education

2

18.95/2

 

TETRIX Chain

W739173

Lego Education

1

14.95/1

 

TETRIX Motor Shaft Hubs

W739079

Lego Education

2

7.95/2

 

TETRIX 100mm Axle

W739088

Lego Education

3

17.95/6

 

TETRIX Motor Mount

W739089

Lego Education

2

19.95/1

 

TETRIX Channel (416mm)

W739069

Lego Education

1

19.95/1

 

HiTechnic DC Motor Controller

W991444

Lego Education

1

79.95/1

 

HiTechnic Servo Controller

W991445

Lego Education

1

79.95/1

 

HiTech Servo Horn

W739020

Lego Education

3

5.95/1

 

TETRIX Tube Clamp

W739077

Lego Education

10

7.95/2

 

Servo Extension

W739081

Lego Education

3

1.95/1

 

TETRIX Servo Joint Pivot Bracket

W739063

Lego Education

1

11.95/1

 

TETRIX Servo Joint Pivot Bracket*

W739063

Lego Education

1

11.95/1

*cut for nut clearance on hand

Coat hanger*

NA

NA

5

NA

*cut and bent for fingers

Custom sheet metal servo bracket

NA

machine shop

1

NA

mounts large servo to base





ECE478 Bohr Robot Report 12/12/2010






Arada, JC (aradaj@pdx.edu)

Le, Dang Zung(ddle@pdx.edu)

the hamburgler

Thueson, Mark (m_thueson@hotmail.com)













Contents


Index 1

2009 ……………………………………………2 1

2010……………………………………………83 1

2015…………………………………………100 1

Final Report ECE578 2

Group 1 2

Fall Semester 2009 2

3.3.1.2 NXT HID Device.................................26 4

3.3.1.2.1 Code Setup.............................27 4

3.3.1.1.2 Trouble Shooting....................32 4

2.2.4.2 Control System 19

Technical Specs 20

3.3.1.1 Troubleshooting 36

3.3.1.2 NXT HID Device 36

3.3.1.2.1 Code Setup 38

3.3.1.1.2 Troubleshooting 40

Mapping 48

Genetic Algorithms 49

Image processing 49

6 To-Do 51

6.1 Base "To-Do" List 51

NXT++ 51

Camera Sensors 51

Sonar Sensors 51

Environment Mapping 51

Image processing 51

Genetic Algorithms 51

Infrared Sensor/Laser Sensor 51

Appendix B - Files used in animation 55

Appendix A: Entire Program Code 56

NXT HID library code 59

common.h 62

Final Code including arm, head and base 74

Actual structure 80

Parts List 81

Assembly Profile Images 81



Problem Statement 105

The Hardware 106

The Software 108

Speech API 110

Developing Bluetooth application in robot C 112

Neils Bohr Arm Wheel Bluetooth Interface Spec 114

Implement Bluetooth in Visual Basic 117

Blue Tooth Protocol File Calls in VB 120

Blue Tooth Protocol Mailbox in VB 121

Visual Show Automation 122

YouTube Example: 124



Bohr GUI 124

SVN 124

Future Plans ECE479 125

1.Introduction 128

2.Homework_1 Outcomes 129

2.a ) First phase explanation 130

Group roles for first phase 131

2.b ) Second phase explanation 132

Group roles for second phase 133

2.c ) Results 134



Einstein, the famous theatrical Robot from PSU! 145

Table of contents 145

Example usage(s) 145




Problem Statement

To bring up the Bohr Robot from last year’s working condition and add speech recognition and vision. We are missing a few key components from last year’s robot configuration: (laptop, software, 12volt battery for motors). Our goal this term is to not only bring the robot up, but to implement speech recognition and vision. In addition, we wanted to add Bluetooth to the robot. Below is the original configuration of the robot from last year’s group.





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