A.C.T.O.R. Autonomous Camera-equiped Teleoperatable Robot
WORK IN PROGRESS
This robot is meant to explore remote areas while providing video feedback. It's navigation system also allow it to get from one point to another without problems. Roborealm is used to handle video processing. Chassis is durable enough for combat. Can be repurposed for use in surveillance or counter-terrorism activities.
Features:
- Tracked All Terrain Drivetrain
- Tilt Sensor for Auto-Inverted Operation
- Durable Aluminum Chassis
- High Tolerance Construction
- Wireless Camera
- 50m Range RF communications
- Pan-Tilt Sensor Array
- GPS and Compass Navigation System
- Off Board Processor / Manually Operated
- Highly Featured Basestation
- Built in Memory
- Built in Programmer
- Built in USB Serial Port
- Interface Wireless Video to Laptop for Roborealm
- Wii Nunchuck for Manual Operation
- LCD Display for Data and Debug
- Equiped with Infrared Laser to Blind People / Start Fires
- Completely Safe and Off Most of the Time
- only included for cool factor
Progress:
Chassis
Tools Needed:
- Saw capable of cutting 1/8" thick aluminum
- Drill
- Threading Tap and Die set
- Set of everyday hand tools
Material Needed:
- 1/8" Thick 1-1/2" Wide Aluminum Angle
- 1/8" Thick 1-1/2" Wide Aluminum Flat
- 3/4" Wide Aluminum Angle
- 1/8" Thick Plastic (Lexan is best)
Construction:
Several 3D models will be posted here, it will be the reader's job to cut pieces to length and drill holes at specific spots. The reader should also be able to assemble the chassis by looking at the models.
Drivetrain
Parts:
- Two HS-475HB or Better Servos
- Modified for continuous rotation
- Four Hockey Pucks
- Toy Tank
- Needs the track, also small idler wheel
- You can look around for it, normally from a toy tank found in radioshack, you can make your own from a length of rubber or similar
- I only used this because I had it for free, be creative
- Four Identical Gears
- 1/8" Thick Plastic Sheet
- Coat Hanger
- Hardware
- 1/4" Diameter 2" Long Bolts, four of them
- Bag full of washers and nuts for all of these
Tools:
- Dremel
- Drill with "doorknob hole" cutting saw
Construction:
Detailed diagrams and instructions will be included detailing the modification of the hockey pucks into pulley wheels, the installation of the tracks, and the gears joining the servos to the wheels.
Electronics - Robot Failsafe Power Supply
The design, construction, and explaination of the failsafe power supply will be detailed here.
This part allows for the robot to turn itself off, which can be instructed to do so remotely, or if the robot senses that a part has malfunctioned, or if battery voltage is below a critical level. It will also allow the use of two momentary switches to be used to turn the robot on and off.
This part is made on a perfboard due to it's simplicity.
Electronics - Robot Main Board
Parts:
- Single Sided Copper Clad Board
- Get supplys for etching, too
- GPS Module
- Compass Evaluation Board
- Wireless USB Module
- ATMega644P
- Other Semiconductions:
- Low Dropout Regulator, 5V and 3.3V
- Lots of 1N4148 Diodes
- Two 5.1V Zener Diodes
- Other Discretes and Misc:
- Lots of 10k Resistors
- Male Pin Headers
- 2x6 2mm Pin Female Header
- 40 Pin Chip Socket
- 470uF Capacitor
- 0.1uF Capacitor
- Two 0.22pF Capacitor
- 18.4320 Mhz Crystal
The main board design files will be here. I will walk through each component and why they are there. The reader is expected to be able to etch the provided PCB design.
The PCB is designed to be home-etching friendly. Lots of spacing and also only single sided copper clad boards are needed. Both the command station and the robot can use identical boards.
Pan-Tilt Sensor Array
You need:
- Two HS-311 Servos
- Can be cheaper model from elsewhere
- Double Sided Sticky Tape
Details about the assembly here.