joel lawrencejustin moses sphero tm ball robot controlled by iphone/ipad commercially available
TRANSCRIPT
Implementation of Solenoids for Cylindrical or Spherical Robotic
Locomotion
Presenters
Joel Lawrence Justin Moses
Spherotm ball robot controlled by iPhone/iPad
Commercially available
Spherical Robots
Movement is controlled by internal mechanisms◦ Counter-pendulum◦ Gyroscope◦ Internal rotor
Omnidirectional Can traverse many types of terrain Have no top – bottom orientations Sealed off from the environment
Typical Spherical Robots
Cannot stop quickly Cannot overcome obstacles greater than
the radius of the sphere Hard to have a zero-turn radius (hard to turn
about the z axis)
Limitations of Spherical Robots
Use solenoids!
Solution
Allow for greater control of movement Robot can stop sooner Robot has the potential to jump to
overcome obstacles
Why Solenoids?
Weight Cost Open to the environment High power consumption
Disadvantages
Solenoids use inductance to control a plunger
Can be push, pull, or push-pull
Usually have springs to automatically retract or extend after turned off
Solenoids and Implementation
Uses solenoids with plungers extending from the shell
Only two rows to show proof of concept
Built inside a hamster ball
Spherical Design
Use a cylinder instead of a sphere
Use the body of a pen to stop the plungers
Everything else stays the same
Simplified Design
TI MSP430 as the microcontroller Either a TIP31 or a MJE3055 BJT 7805 5v rectifier IC Standard 120 Vac to 12 Vdc wall plug Coded using Code Composer Studio
Controlling the Robot
Used LEDs to indicate which solenoid should be activated
Original 2N3904 transistors failed
Testing