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Author Topic: Spherical Robot Project MCU  (Read 1443 times)

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Offline wdomhartTopic starter

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Spherical Robot Project MCU
« on: July 14, 2009, 05:23:13 PM »
Hi,

I'm over at Cal Poly SLO doing a project where I'm going to design a spherical robot. This is my first robot design, however I have worked with a Motorola MC6811 MCU a bit (yes, I know its old school), worked with steppers, and dc motors a little. I've decided that I'm not going to use the 6811 and the Mini Board 2.0 that it came with because I'm having finding a programming environment for windows and there's not much documentation or support for this chip/board combo. I'm thinking of going with an Atmel MCU, but would like a board combo.

Requirements:
Drive 2 hacked hobby servos, 1 DC motor, and 2 optical encoders.
Small in size, free software, USB support, and can interface with a radio controller.

Ideas. I have 4 weeks to get this thing going.

Thanks,

William

Offline kpmcgurk

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Re: Spherical Robot Project MCU
« Reply #1 on: July 14, 2009, 05:33:18 PM »
Is it going to be autonomous or Remote controlled?
some people are just Born smart, but some people have to work for it, and those are the people who succeed.

http://www.proboticworld.com

Offline wdomhartTopic starter

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Re: Spherical Robot Project MCU
« Reply #2 on: July 14, 2009, 05:43:04 PM »
Remote controlled. Not enough time. Have a lot of work and tests to do. I'm bouncing between two designs, but I need the MCU programmed enough so that I can conduct testing.

Offline Joker94

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Re: Spherical Robot Project MCU
« Reply #3 on: July 20, 2009, 05:47:51 AM »
can you give a better discription of the shape or a drawing, hand will do. I am haing trouble pictuing how the thing is going th work ???

Offline wdomhartTopic starter

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Re: Spherical Robot Project MCU
« Reply #4 on: July 20, 2009, 08:58:03 AM »
Got the board and I'm using an Atmega128 with a custom board from one of the professor's classes. The design isn't finalized, but the primary idea is to have the robot enclosed in a spherical hamster ball. The robot will be suspended in sphere with hangars connecting the the MCU/Battery/Motor platform with a rod centered on equator of the sphere. One motor will drive a wheel in contact with the inside of the sphere. Another motor will operate a flywheel of sorts that will run at a slow constant speed unless turning is required. When it recieves input to turn the motor will speed up or change direction depending on which way its turning. I need to test this idea out, but I'm thinking it will work. Anyone try this or here of someone doing this?

Offline spizzak

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Re: Spherical Robot Project MCU
« Reply #5 on: July 20, 2009, 11:48:37 AM »
If your motor is fixed to the sphere it cant possibly cause the sphere to rotate. I'd be interested to see some sort of plan too if you could somehow post a drawing of some sort.

Cheers

Offline Razor Concepts

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Re: Spherical Robot Project MCU
« Reply #6 on: July 20, 2009, 12:46:25 PM »
If your motor is fixed to the sphere it cant possibly cause the sphere to rotate. I'd be interested to see some sort of plan too if you could somehow post a drawing of some sort.

Cheers

Using inertia...?

Offline spizzak

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Re: Spherical Robot Project MCU
« Reply #7 on: July 20, 2009, 03:14:19 PM »
Nevermind, I misread the part about the rod. I'm assuming the motor assembly rotates about the rod then?

Offline Joker94

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Re: Spherical Robot Project MCU
« Reply #8 on: July 21, 2009, 05:51:44 AM »
sounds good in thoery. Keep us posted, it sounds really interesting.

 


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