RobotBuilder

Mobile Robot

My Mobile Robot

Tracks

Gears are 1/4" plastic (5 think) cut on the wood CNC Router at home. Prototype links/cleats were also made on the same CNC. Later the real track was made from aluminum. Tracks are powered by two 24 V wheelchair motors.

Motor Controllers

Homemade and based on the OSMC (Open Source Motor Controller) design.

Other Electronics

All Electronics interface with the computer through a Desktop PC parallel port. Robot brain is a 450 MHz AMD desktop (case hacked to fit inside the robot and runs through an inverter).

- 64 digital outputs, 64 digital inputs, 64 angalog inputs (10 bit), 2 analog outputs for PWM (pulse width modulation)

- Radio Control signals, instead of moving servos, go to a PIC and stick positions are sent as voltages to the ADC

- Has a wireless network connection to a PII 400 MHz with an internet connection. I use a remote desktop connection to use the hacked desktop on the robot. Also has speakers with text to speech.

- Wheelchair Motor Controllers - rated for 50 V/50 A continuous with current sensing

- Lift/Bucket Motor Controllers - 50 V/25 A continuous with current sensing