Parallax 28990 Manuale utente

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Eddie Robot Platform

(Assembled: #28990 / Unassembled: #28992)

Eddie is a mobile robotics development platform designed to foster creativity, innovation and

experimentation. Compatible with Microsoft’s Robotics Developer Studio, Eddie can roam autonomously,

see in 3D using the power of the Microsoft Kinect, and be driven remotely using a wireless controller

(sold separately).

Eddie’s Control Board uses the Propeller multicore microcontroller to directly control two high-torque 12 V

motors and collect data from multiple sensors mounted on the robot. Eddie is controlled over a simple

USB connection and a convenient, open-source command interface.

Features

Compatible with Microsoft Robotics Developer Studio

(RDS4)

Two-tiered design provides plenty of room for

electronics as well as convenient laptop mounting for

un-tethered, autonomous navigation.

High-torque 12 VDC gear motors

Durable 6” diameter pneumatic rubber tires traverse

various types of surfaces and terrain.

Three Infra-red distance sensors and two ultrasonic

distance sensors for object detection and collision

avoidance

Integrated control board handles all low level hardware

operations to control motors and collect sensor data

Twin high-capacity 12V , 7.5 Ah sealed lead acid (SLA)

batteries provide significant run-time between charges

USB connectivity

Built-in charging jack (charger included)

Key Specifications

Communication Interface: Serial

commands over USB interface

Operating temperature: 32 to 158 °F (0 to

70 °C)

Dimensions: 21.75” (55.25 cm) high

17.8” (45.2 cm) Diameter

Robot Weight: 25.3 lbs (11.5 kg)

Application Ideas

Autonomous navigation and mapping

Development and testing of machine

vision systems

Tele-presence robots

Voice-activated personal assistant robots

Security and surveillance robots

Crowd interaction and advertising

Additional Items Required

Laptop Computer

Kinect Camera

Philips (cross-head) screwdriver

Scissors

5/32” Allen wrench

Microsoft RDS software

A Keen Imagination

Important Precautions

After switching main board power off, wait at least 5 seconds before switching power back on.

Rapid and repetitive power cycling of the board and motor power supplies causes significant

stress on electronic components and may damage the board and/or connected electronic

accessories.

Use caution when handling the drive motors or Control Board as some components may become

hot after prolonged operation.

As in most electronic devices, Eddie contains components which are sensitive to static discharge.

Exercise proper grounding practices prior to touching or working on the robot.

Assembly Instructions

Note: For pre-assembled Eddie (28992), go to Step 10

Step 1: Motor Mount and Wheel Kits

Pre-assemble the Motor Mount and Wheel Kit and the Caster Wheel Kits, by following the

instructions that came with each of those products. Set them aside for now.

Step 2: Parts Inventory

After you have completed the assembly of the Motor Mount and Wheel Kit and the Caster

Wheel Kits, carefully unpack the remaining components and sort them into their respective

groups. You should have the items listed in the Bill of Materials table below.

Bill of Materials

Part # Quantity Description

27971 1 Eddie Motor Mount and Wheel Kit w/ Quadrature Encoders

28971 2 Caster Wheel Kit

765-28977 1 Robot Base

765-28990 1 Eddie Second Deck

700-00235 1 Eddie Wiring Harness

721-00013 2 Kinect Mounting Cam Hook

452-00072 4 Eddie Kinect Cable Clip

800-28990 1 Eddie Kinect Power Cable

713-00049 4 Standoff, 5”, ½” Diameter

713-00050 2 Standoff, 12”, ½” Diameter

721-00014 1 Eddie Laptop Screen Clamp

765-00003 1 Eddie Battery Shelf

752-00007 2 Battery, 12V, 7.2Ah, SLA

28015 2 Ping))) Ultrasonic Distance Sensor

28995 3 Sharp 2Y0A21YK0F Distance Sensor

550-28990 1 Eddie Control Board

805-00002 2 Servo-extension Cable, 14” Length

805-28995 3 Sharp IR Sensor to Servo Cable

725-28995 3 Sharp IR Stand Acrylic

725-32008 2 Ping Stand Acrylic

710-00033 10 Screw, Cap, SKT, 6-32x1/2”

710-00035 24 4-40 x 5/8” black pan head screw

713-00005 6 Spacer, nylon, #4, ¼” thick

713-00019 6 Spacer, nylon, #4, 1/8” thick

713-00015 4 Spacer, nylon, #4, 1/16” thick

700-00240 1 Eddie Battery Charger

806-00001 1” x 10” Snap Velcro

700-00028 4 Screw, Pan Head, Zinc, Phillips, 4-40 x 1/4”

700-00083 4 4-40 x ½”, F/F Hex Standoff

710-00024 4 Screw, Button Head SS, ¼”x20 x ½”

710-00032 6 Screw, Cap, SS, #6-32 x 3/8”

710-00034 4 Screw, Flat Head, Black ¼-20 x 5/8”

721-00012 1 Eddie Kinect Platform

710-00040 4 Screw, Pan Head, Black 4-40 x ½”

710-00100 2 Screw, Pan Head, Black 4-40 x 1/4”

710-00105 10 Screw, Button Head, ¼-20 x 5/8”

710-00106 2 Screw, Button Head, Blk, ¼-20 x ¾”

712-00008 2 Washer, ½” dia, .060 Delrin

713-00001 6 Standoff, 4-40 x 5/8” F/F Round

713-00022 4 Standoff, 4-40 x 1.5” F/F Hex

Step 3: Ping))) and IR Sensor Module assembly

Figure 3a shows the components for each sensor assembly. You will need a small Phillips screwdriver to

assemble each sensor module.

Figure 3a

Each Ping assembly consists of: Each IR sensor assembly consists of:

(1) Ping))) sensor (#28015) (1) IR sensor (#28995)

(1) Cable, servo extension (#805-00002) (1) IR Sensor to servo cable (#805-28995)

(2) 4-40 x 5/8” black machine screws (#700-00028) (2) 4-40 x 5/8” blk mach. screws (#710-00035)

(2) 1/16” thick nylon spacers (#713-00015) (2) 1/8” thick nylon spacers (#713-00013)

(2) ¼” thick nylon spacers (#713-00005) (2) ¼” thick nylon spacers (#713-00005)

(1) Acrylic Ping stand (#725-32008) (1) Acrylic IR Stand (#725-28995)

Refer to Figure 3b, and note the different locations of the spacers on each assembly. In each case, make

sure the “labeled” or etched sides of the Stands are on the opposite side from the sensor assemblies.

For the IR module, insert two 5/8” long, black machine screws through the mounting holes from the

backside of the module. Place (1) of the 1/8” long spacers and (1) of the ¼” long spacers on each of the

machine screws (as shown in Figure 3b). Carefully align this assembly onto the backside of the acrylic IR

stand, and gently tighten each of the machine screws until they’re snug. Nuts are not required. The

machine screws will cut their own threads as you screw them into the acrylic. Do not over tighten.

Assemble the Ping))) module by sliding a 1/16” thick nylon spacer onto each of the two 5/8” long, black

machine screws. Insert these screws (with the 1/16” washers) through the Ping’s PCB mounting holes.

Place two ¼” long spacers onto the screws, and align the screws to the self-tapping mounting holes on

the acrylic stand. The screws will cut their own threads. Screw them all the way in, but do not over-

tighten.

Figure 3b

You should now have assemblies that look like those shown in Figure 3c. Repeat these steps for the

remaining Ping))), and IR Sensor assemblies.

Figure 3c

Connect the appropriate cables to each of the sensors. Be sure to observe proper polarity on the Ping

cables, as shown in Figure 3c. The IR cables are polarized. Line up the tab on the cable, and insert it

into the receptacle. Be sure to fully insert them – they should “click” into place.

Set these assemblies aside for now.

Step 4: Battery Shelf Preparation

Figure 4a

As shown in Figure 4a, the Battery Shelf components consist of a Delrin shelf, (6) 1/2” tall, round

aluminum standoffs, and (6) 4-40 x 5/8” screws.

The physical sizes of SLA batteries differ depending on brand and capacity. Figure 4b shows typical

locations for standoff placements, for the batteries that come with the Eddie platform. Mount the

standoffs in hole locations that provide the tightest fit for the batteries that you’re using.

Place the Delrin shelf so that the Parallax Logo is face down, and attach the standoffs as depicted in

Figure 4b.

Figure 4b

Set the Battery Shelf Assembly aside for now.

Step 5: Main Base Assembly

Place the two pre-assembled Casters and Motor Mounts a shown in Figure 5a. Orient the Base Plate so

that the two sets of three holes (in a triangular pattern) are visible (“face-up”), as shown in Figure 5a.

These are “blind” holes (they do not go all the way through). The Caster assemblies are attached from

the bottom of the Base with short screws that do not mar the finish of the top-side.

Figure 5a

Use the 7/64” ball-end, Allen wrench to screw in the (3) 3/8” long socket-head cap screws to attach each

of the Caster Wheel assemblies to the Base, as shown in Figure 5b. Make them “snug”, but do not over

tighten.

Before you mount the drive wheels to the Base, verify that the ID jumpers (A and B) on the Position

Controller for the left motor are set to “1” (both jumpers installed) and that the ID jumpers on the right

Position Controller are set to “2” (A installed, B removed). (See Motor Mount and Wheel Kit for additional

information).

Figure 5b

Flip the Base over (as shown in Figure 5c), and attach each pre-assembled drive motor unit to the Base

using (2) ¼ x 20 button head screws for each motor, as shown. Tighten using a 5/32” Allen wrench.

Connect (2) long, three-pin servo extension cables to each of the Quadrature Encoder Boards. Be sure to

observe proper polarity, as noted on the Encoder board silk screen. Connect each of the other ends of

the cables to the Control Board when it’s installed. It is recommended that the cables are routed across

the top side of the robot platform.

Figure 5c

Step 6: Control Standoff Assembly

Insert (8) 4-40 x 5/8” Black oxide screws from the underside of the Base, and fasten to the two sets of

(4) of standoffs, as shown in Figure 6a. The ½” long standoffs are for the Eddie Control Board, and the

1.5” standoffs are for the Wiring Harness / Switch Plate assembly.

Figure 6a

Place (but do not attach) the Wiring Harness / Switch Plate assembly onto the Base as shown in Figure

6b. Carefully thread the Red and Black wires through the hole that’s between the set of short standoffs.

Double-check to make certain that the Power Switches are both “off” as shown in Figure 6b.

Figure 6b

Step 7: Battery Shelf Installation

Flip the Base over, place the two Sealed Lead Acid batteries on the bottom of the Base, and connect the

Red and Black wires to the corresponding colored terminals, as shown in Figure 7a.

Figure 7a

Refer to Figure 7b. Carefully rotate the batteries, and gently place them between the two drive motor

assemblies. This should be a nice, tight fit. Be careful to not short the terminals of the batteries against

the frames of the motor assemblies. See Figure 7b.

Figure 7b

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