nxt ballbot building instructions

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NXT Ballbot Building Instructions


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Author (First Edition)

Yorihisa Yamamoto

[email protected]

Application Engineer

Advanced Support Group 1 Engineering Department

Applied Systems First Division

CYBERNET SYSTEMS CO., LTD.

Revision History

The contents and URL described in this document can be changed with no previous notice.

Revision Date Description Author / Editor

1.0 Apr 14, 2009 First editionYorihisa Yamamoto

[email protected]


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Introduction

NXT Ballbot is a LEGO Mindstorms NXT version of Ballbot that is developed by Ralph Hollis at Carnegie

Mellon University. The Ballbot is designed to balance itself on its single spherical wheel while traveling about.

Please refer the following URL to know more detailed information about Ballbot.

http://en.wikipedia.org/wiki/Ballbot

This document describes the required products for NXT Ballbot and how to build it.


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Table of Contents

Introduction ............................................................................................................................................................... i1 What is NXT Ballbot? ..................................................................................................................................... 12 Required Products .......................................................................................................................................... 23 Building Procedure ......................................................................................................................................... 4


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1 What is NXT Ballbot?

NXT Ballbot is a self-balancing robot on its single spherical wheel (ball), built with LEGO Mindstorms NXT.

The figure below is its externals.

NXT Ballbot has the following features.

z Balance control by using two DC motors and two gyro sensors.

z Autonomous drive or remote control by using a PC game pad with analog sticks.

z Obstacle avoidance by using an ultrasonic sensor.

You can watch the NXT Ballbot movie at the URL http://www.youtube.com/watch?v=f8jxGsg3p0Y


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2 Required Products

This chapter describes the required products to build NXT Ballbot. Contact LEGO Mindstorms Education

distributor in your country for consultation and estimation about the products. The following information is

described at the North America LEGO Education site http://www.legoeducation.com/store/.

LEGO Products

z LEGO Mindstorms Education NXT Base Set

Product ID : W979797

This is a LEGO Mindstorms NXT base set.

z Education Resource Set


This is a LEGO Mindstorms NXT expansion set.

z AC Adaptor


This is required for NXT Rechargeable Battery.

z NXT Bluetooth Dongle


This is a USB dongle for Bluetooth communication.

It is required for NXT GamePad utility.


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HiTechnic Product

z Hitechnic Gyro Sensor for NXT


This is a gyroscopic sensor that returns rotation speed.

NXT Ballbot requires two gyro sensors.

Other Product

z PC Game Pad with Analog Sticks

This is required for remote control.

You can use a game pad which confirms Windows HID spec.


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3 Building Procedure

Making Base Assembly


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2

3 4

5 6

1


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7 8


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Making Motor Bearing Assembly


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21

Attaching Motor Bearing Assembly


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Making Motor Assemblies


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2

3 4

5 6

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7


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Attaching Motor Assemblies


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Making Gyro Assembly 1


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2

3 4

5 6

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Making Gyro Assembly 2


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Attaching Gyro Assemblies


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Attaching Stretchers


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Making Top Panel Assembly


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Attaching Top Panel Assembly


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Making NXT Brick Assembly


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2

3 4

5

1


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Attaching NXT Brick Assembly

Connecting Cables

Port 1 : Left Gyro SensorPort 2 : Back Gyro SensorPort 3 : Ultrasonic Sensor

Port B : Front DC MotorPort C : Left DC Motor


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Overview

nxt ballbot building instructions

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