Parallax Penguin Manuale utente

Web Site: www.parallax.com

Forums: forums.parallax.com

Sales: sales@parallax.com

Technical: [email protected]

Office: (916) 624-8333

Fax: (916) 624-8003

Sales: (888) 512-1024

Tech Support: (888) 997-8267

Penguin Robot Kit

(Red #27313)

(Blue #27314)

(Clear #27315)

(Black #27316)

The Penguin Robot is a precision-machined 4” tall biped. The Penguin walks forward with a tilt-stride

action and turns by sweeping both feet on the ground in opposite directions. Individual movement

segments are linked together for this robot to walk. This basic biped design functions best in the

Penguin’s small scale. The Penguin mechanics have a close-tolerance fit and are designed to provide

precise electronic control.

The Penguin’s microcontroller is an embedded BASIC Stamp2px24 module, the fastest and most powerful

BASIC Stamp microcontroller model in the Parallax lineup. The Penguin requires three hours to assemble,

after which it is a PBASIC programming challenge to exploit all of the robot’s capabilities.

Note: This document is for Penguin Robots Rev A or Rev B.

If your robot has a "REV B" label near the 7-segment display on the

PCB, please look out for assembly instruction differences specific to

Rev B.

(Note that Penguin Robots Rev A are not labeled.)

Table of Contents

1.0 Introduction.................................................................................................................................2

1.1. Audience ............................................................................................................................................................2

1.2. Features .............................................................................................................................................................2

1.3. System and Software Requirements:................................................................................................................3

1.4. Bill of Materials...................................................................................................................................................3

1.5. Body Kit Mechanical Drawings..........................................................................................................................4

2.0 Assembly.....................................................................................................................................5

2.1. Tools Required...................................................................................................................................................5

2.2. Assembly Instructions........................................................................................................................................5

2.3. Mechanical Troubleshooting Guide.................................................................................................................17

3.0 Programming the Penguin......................................................................................................18

3.1. Programming Concept.....................................................................................................................................18

3.2. Servo Calibration..............................................................................................................................................18

3.3. Penguin’s BASIC Stamp 2px24 Pinout ...........................................................................................................18

3.4. Example Programs ..........................................................................................................................................19

3.5. Optional Compass Calibration.........................................................................................................................19

3.6. Other Helpful Documentation ..........................................................................................................................19

3.7. Test Code Listings ...........................................................................................................................................20

4.0 Electronics................................................................................................................................23

4.1. CR123 Batteries...............................................................................................................................................23

4.2. Schematic.........................................................................................................................................................23

1.0 INTRODUCTION

1.1. AUDIENCE

The Penguin isn’t a beginner’s robot. The Penguin is a small desktop robot, not intended for long-distance

adventuring. The Penguin’s electronics are fully assembled and wired to an assortment of I/O devices.

Additionally, it has a fairly complex programming process which is more difficult to understand than a

two-wheeled robot. For example, Penguin’s walking steps must be linked and the compass sensor must

be calibrated. For these reasons we recommend this robot for the hobby robotics enthusiast or collector

who has an extended interest in PBASIC programming.

1.2. FEATURES

yBS2px24 module chipset

yCNC-machined 6061 aluminum parts available in four color schemes

y(2) micro servos

yHitachi HM55B Digital Compass sensor

yBlue seven-segment LED for feedback

y(2) photoresistors

y(2) infrared emitters and one detector

yPiezospeaker in body, underneath battery pack

y3-position power switch located adjacent to battery pack

yFTDI 232RL mini USB programming port

y(2) CR123 batteries for 6V power supply

yOrange power indicator LED

y(2) expansion I/O ports, with Vss and Vdd header for Ping))) distance sensor or RF modules

1.3. SYSTEM AND SOFTWARE REQUIREMENTS:

yPC running Windows XP/Vista, with an available USB port

yBASIC Stamp Editor Software v 2.3 or higher - download from www.parallax.com/downloads.

yUSB VCP Drivers - these can be installed automatically via the BASIC Stamp Editor v2.3 installer,

or you may download the latest version separately from link on www.parallax.com home page.

yPenguin Test and Sample Programs - test programs are included in this document; all programs

listed may be downloaded as .bpx files from Penguin product page at www.parallax.com.

1.4. BILL OF MATERIALS

Part # Description Quantity

Penguin Body Kit

720-27313 Red Anodized Penguin 1

720-27314 Blue Anodized Penguin 1

720-27315 Clear Anodized Penguin 1

720-27316 Black Anodized Penguin 1

Each of the above includes:

-- Body panels 2

-- Leg pairs attached to ankle 2

-- Feet 2

-- 4-40 5/8” long standoffs, with machined flat space 4

Penguin Hardware Package

720-00013 Stride linkage 1

720-00015 2-56 threaded rod 2.5" long 2

710-00013 4-40 1/8" long, 0.149" diameter stainless steel shoulder screw 4

710-00010 4-40 1/8" long, 1/8" diameter stainless steel shoulder screw 4

710-00011 4-40 1/4" button socket cap stainless steel screw 12

710-00012 2-56 1/4" button socket cap stainless steel screw 2

710-00014 2-56 1/4" flathead stainless steel screws 4

725-00016 2-56 ball links for 2-56 threaded rod 2

725-00062 1/16" hex key 1

725-00063 0.05" hex key 1

725-00064 5/64" hex key 1

725-00067 1.5 mm hex key 1

725-00018 1/16" ball links for 2-56 threaded rod 2

Electronics

555-27313 Penguin BS2px printed circuit board 1

Each of the above includes:

-- BS2px24 circuit board 1

-- Flat white ribbon cable to connect the boards 1

-- Power pack board 1

Miscellaneous

700-00064 Parallax dual-head screwdriver 1

752-00003 CR123 Batteries 2

805-00010 USB A to Mini B programming cable 1

900-00014 Grand Wing Naro standard servo 2

700-00063 Drill bit, #55 1

Missing parts? Your Penguin experience should be nothing short of complete success and

satisfaction. If you encounter a missing part contact us immediately and we’ll put it in the mail for you.

The best way to do this is by e-mail to sales@parallax.com, or you can call us at (888) 512-1024.

1.5. BODY KIT MECHANICAL DRAWINGS

2.0 ASSEMBLY

2.1. TOOLS REQUIRED

The Penguin kit includes a portion of the tools required to build the robot (the hex keys, drill bit, and

screwdriver). You will need to provide these additional tools to finish assembly, which are not included in

the kit:

ySmall pliers

yRuler or calipers

yHandheld drill, small drill press, or a vise

ySmall adjustable crescent wrench (or 3/16” socket)

ySafety glasses

Safety first! Taking basic safety precautions is absolutely necessary when building a Penguin. The

assembly process includes several steps where you will be exposed to danger. You will be using a

sharp drill bit to enlarge a tiny hole, and tiny pieces may fly. You will be pressing ball joints together,

where a small slip can puncture your skin. These dangers are minimized by wearing safety glasses

and using the right tools for the job.

2.2. ASSEMBLY INSTRUCTIONS

Step 1: Attach standoffs to servos

Connect (4) of the 4-40 1/4" button socket cap stainless steel screws to the middle of the 5/8” 4-40

standoffs. The standoffs have a machined flat space in the middle against which the servo tab will be

seated when the screw is tightened. Press the standoffs against the servo body when tightening the

screws. This will ensure proper spacing when the servos are mounted in the Penguin body panels.

Step 2: Center the servos using the BASIC Stamp Editor

This step centers the servos, so that further mechanical tuning will be minimized once the Penguin is

assembled. It also ensures that you won’t need to take the Penguin apart once you start programming it.

The servos need to be centered with a 1.5 ms pulse, following the directions below:

a. Connect the Penguin boards together using the flat ribbon cable, as pictured. For boards with a

"REV B" label near the 7-segment display, the blue-tipped side of the cable faces toward the

Parallax logo. Otherwise, the blue-tipped side of the cable faces away from the Parallax logo.

b. Insert two (2) CR123 batteries into the power pack. A line drawing on the inside of the battery

holder shows how the batteries are oriented. (Orientation may differ from picture shown.)

c. Plug two servos into the bottom of the power pack, being careful to orient them correctly. From

the perspective of this photo, the servo’s white leads are on the bottom, or the right side of each

servo connector as viewed behind the Penguin.

d. Download and install the BASIC Stamp Editor and FTDI USB VCP drivers software if you have not

done so already.

e. Plug the mini USB cable into the power pack.

f. Plug the other end of the USB cable into your PC.

g. Turn on power to the board (slide the switch toward the ribbon cable).

h. Open the BASIC Stamp Windows Editor and run the Penguin-CenterServos.bpx program.

i. The servos are now centered. Disconnect the servos first, and then remove the batteries and USB

cable from the power pack board.

' Parallax Penguin Robot

' Penguin-CenterServos.bpx

' {$STAMP BS2px}

' {$PBASIC 2.5}

Center CON 1875 ' Centered servo pulse

StrideServo PIN 6

TiltServo PIN 7

PULSOUT StrideServo, Center ' Center stride servo (J1)

PULSOUT TiltServo, Center ' Center tilt servo (J2)

PAUSE 15

LOOP

Step 3: Assemble the Penguin body

Install the servos into the Penguin body using (8) 4-40 1/4" long button socket cap stainless steel screws

and the 1/16” hex key. The picture shows how the servo splines are oriented: the stride (bottom) servo

spline is near the rear of the Penguin; the tilt (top) servo spline is near the top of the Penguin. Tighten

the screws.

Step 4: Install stride linkage on the stride servo

Locate the small black plastic stride linkage with two ball-shaped ends. (This part has changed: the style

shown on the left is included in your kit. The previous style is shown in all the photographs.) The stride

linkage has a recess in the reverse shape of the servo spline. Press it onto the servo so that it is as close

to cross-wise to the Penguin body as possible; it may not be perfectly perpendicular because the spline is

toothed. For fine-tuning, this can be corrected with calibration-in-software using sample code available

for free download from the Penguin product page. Secure the stride linkage to the spline with the servo

screw.

Step 5: Attach legs and ankles to body

The Penguin’s legs and ankles come pre-assembled since they required a specialized tool to properly

insert small dowel pins through the round ankle. Each Penguin has a pair of left and right legs. Also

notice that there’s a round machined recess with a diameter slightly larger than the shoulder screw head

on each pair of legs. The recess faces out towards the shoulder screw, and the shortest part of the ankle

faces forward. Shoulder screws have a 1/8” diameter smooth stainless steel surface upon which the legs

will rock back and forth.

To install the leg assemblies on the Penguin, use the (4) 4-40 1/8" long shoulder screws and the 5/64”

hex key. The ball-shaped ends of the stride linkage fit within the matching oval cutout in the rear legs.

The legs should move freely when assembled, and you will hear the stride servo’s gears moving at the

same time. If it takes force to move the legs you have one of two problems: either the metal parts have

bound, or the screws are too tight into the body panels. Tighten everything enough to remove “slop” but

not so tight that parts are unable to move freely.

Step 6: Mount Penguin feet to the ankles

The Penguin kit has (4) 4-40 1/4" long, 0.149" diameter stainless shoulder screws which are used to

attach the feet to the ankles. The head of these screws provides a bearing surface for the ankle so it may

rotate freely within the foot when Penguin leans from side to side.

Each foot has an additional 2-56 threaded hole where the Penguin’s ball joints mount for the threaded

rod which connects to the tilt servo (the ski poles). These threaded holes denote the front of the foot.

Carefully drop the ankles into the foot. This is a close-tolerance fit; the ankle will only fit into the foot if it

is inserted squarely. Next, use the 1.5 mm hex key to tighten the 4-40 long 0.149” diameter stainless

steel shoulder screws into the ankle.

The Penguin will now stand up without assistance.

Four (4) 4-40 ¼” long 0.149” diameter

stainless shoulder screws hold the ankle

to the feet

Step 7: Screw 2-56 ball links into feet

The Penguin kit contains two different sizes of ball links. The 2-56 threaded ball links are used in this step

(the 1/16” ball links are used in a subsequent step). Open the package and thread the 2-56 ball link post

into the front of each foot. You can tighten them using a 3/16” socket or small wrench. Be careful not to

scratch the feet as you tighten the ball links. The threaded portion of the ball link will not screw all the

way into the foot because it has a small non-threaded portion between the threads and the hex-shaped

post. Don’t force it beyond the point at which the ball link is easily screwed into the foot.

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