CONTENTS ROBOTICS MANUAL

PRESENTATION OVERALL OBJECTIVES EDUCATIONAL ROBOTICS AND ROBOTIC ART 1. What does Educational Robotics mean? 2. Robotic Art

CLASSIFICATION OF MECHANICAL AND ELECTRONIC COMPONENTS AND POSSIBLE APPLICATIONS 1. Procedures of a CPU to classify robotic elements 2. Recognizing components of a printer OKIDATA 3. Internal components and various types of printers, matrix or bubblejet 4. Recognizing parts of a printer Fx-1170 5. Use of waste and possible applications

HANDLING TOOLS AND INDUSTRIAL SAFETY 1. Tools 2. Additional tools

ELECTRICAL AND MECHANICAL COMPONENTS 1. Analysis of mechanical systems (Annex 1) 2. Symbols and electronic components (Annex 2)

MODULE 1 1. Construction of helicopter 2. Video helicopter 3. Activities and ideas on how to re-use disused monitors

MODULE 2 1. Basic electronic concepts

MODULE 3 1. Building a motorcycle 2. Vibration movement

MODULE 4 1. Building Formula 1 race car 2. Formula 1 3. Video 4. Constructing sensors 5. Building a plane 6. Video plane 7. Video helicopter

MODULE 5 1. Building a forklift 2. Video forklift 3. Recycling hard discs 4. Building a bicycle

MODULE 6 1. Building a tetrapod 2. Tetrapod video

MODULE 7 1. Designing a control station 2. Interphase design 3. Video of a robot controlled by a control station with 386 processor.

INVENTORY OF PARTS USED FOR THE CONSTRUCTION OF ROBOTS. TESTIMONIAL Bibliography

PROJECT RECICLEMOS WeRECYCLE Consultant:

ANGEL FERNEY TORO PATIO E-mail: [email protected]

Presentation
The problem of electronic waste is not new for the population of developing and industrialized countries. Day after day various initiatives work on programs aimed at reducing environmental pollution caused by electronic waste and the manufacturers of computers, televisions, cell phones, audio equipment etc. are called upon to collaborate in order to find a solution to this problem. This manual aims to be, in a didactical manner, part of the management of this techno-waste, by recycling it and use it for the good of the whole community so that children, youth and adults participate in educational projects such as building robots out of elements of e-waste. In this way people are brought closer to science and technology and at the same time their horizons are broadened and awareness is raised. Also the learning process is facilitated and young and old will find the actual building entertaining. This way what is now considered tech-waste and its environmental impact are transformed in to tools for Educational Robotics. The contents of this Project can be integrated as an Educational Robotics Project, where concrete starting points such as the design of a kit or robotics manual are defined. These will be available on-line to the general public and with the alternative of incorporating new elements and spaces dedicated to children, youths, adults and other institutes and organisations in Latin America and the Caribbean. This philosophy of using technologic waste is in line with the objectives of the International Development Research Centre (IDRC), Canada, The Institute for Connectivity in the Americas (ICA) and the support of the Quipus Foundation in La Paz, Bolivia. For this reason the Toolkit Reciclemos-WeRecycle is considered a fundamental tool for the management of electronic waste.

General Objective
Provide the Latin American and Caribbean countries with key tools, in order to generate a change of vision towards electronic waste, using a theoretical-practical learning process in robotics, supported by a base model for planning, design and implementation. This model is presented in a functional manner, and in such a way that it is attractive to the new generations, especially children, who easily incorporate this knowledge in their day-to-day life and make it part of the culture of a community

EDUCATIONAL ROBOTICS

1. WHAT DOES EDUCATIONAL ROBOTICS MEAN? It is a strategy to be incorporated in the learning process of underprivileged children and youths who have fewer opportunities in community programs, conflict areas or schools that are oriented at technological development, using theoretical-practical modules, teaching science via artificial models (autonomous and non-autonomous) which move in the same way man and machine move in day-to-day life. 2. ROBOTIC ART ART ROBOTS go beyond the limited definition of Robot in science, engineering and industry They open the door to social criticism, personal objections and opinions and free imagination and fantasy. The robots are functioning objects that work in space and time. Its open and diverse temporal-spatial structures allow various stimuli to be satisfied. They are not only objects the public can see, as is the case with all artistic manifestations, but they are able to sense the public, responding accordingly with their sensors. One of the main issues of robot art is the nature of the behaviour of the robot. Is it autonomous, semi-autonomous sensitive, interactive, organic, adaptable, remote controlled or of some other kind? The behaviour of the other agents which the robots can encounter and interact is also a key in robot art. The interaction between all elements that make up a given piece (robots, humans, etc) defines the quality of this piece. Robots are not sculptures, paintings or video art. The ART ROBOTS mustnt be confused with statutes or sculptures or androids with a mechanical look. (not even with the images of video in movement). Programs that retrieve and do other tasks on the Internet are also, confusingly called Internet robots, or Netbots, have nothing to do with robot art. Robot art always implies a real space component. The robots are a new art form, and are able to hybrid with various technologies. This quality allows them to transcend the object to blend in with the surroundings. Robot Art takes place in physical space, telemetric, virtual environments or in whatever combination of these spaces which includes a real space. Robots are something new in the art world. Robot art has examples in the work of e.g. Tinguely and Paik, but is an art form in its own right, different from sculpture, video, performance art or other common art forms. There are prototypes of machines that incessantly repeat their temporal structures. Only microprocessors allow a more distinct and complex behaviour, be it in specific or random form. Microprocessors are as important to robot art as are paint; brushes and canvas are for painting. Robots belong to a new category of objects and situations that break with the traditional taxonomy of art. Where before we spoke of limits and barriers, now we encounter new artistic grounds. Terrains which are open to new possibilities and that link in a productive way, where hybrid creatures are born without a `pre-existing model. Combined with the means of communication, the robot gives space to tele-presence art, where the robot is host to a remote object.

As a rule robots do not want to convert into fixed and limited forms. They can perish as a concept when a new situation arises that surpasses or includes them. Robots exist in a creative debate and conceptual exploration that manifest themselves in the domains of telematics and cybernetics.

CLASSIFICATION OF MECHANICAL AND ELECTRONIC COMPONENTS AND POSSIBLE APPLICATIONS

1. Procedures of CPU to classify robotic elements The procedures centre on dismantling and separating all possible metal and plastic parts, motherboards, sources, cables and other, decontaminating each of these of other materials , especially unfolding or flattening the metal parts. At the same time the stock of elements suitable for robotic art is obtained. This type of activity is used to recycle in more detail and also to separate the components that can be used in the robotic art project.

Taking serial numbers

Uncovering

Unscrewing the inside of the CPU

Removal and storage of internal tags.

Removal and separation of plastic components

Taking metal elements apart

Removing parts back

Flattening of internal metal parts

Removal of contaminating elements

Storage of metal sheeting

2. Recognizing components of a printer OKIDATA

6 5 8

4 2

2 3 1

1. 2. 3. 4. 5. 6. 7. 8.

Pinions and spindle support. Belts. Springs and structures. Sensors. Stepping motors Roller Paper feed system. Spindles.

3. Internal components and various types of printers, matrix or bubble jet

4. Recognizing parts of a printer Fx-1170

Control panel

Boards

Head of matrix dot printer

Paper guides

5. Use of waste and possible applications

To begin to describe the elements that make up a prototype or robot, one must begin by dismantling some elements that are considered waste and where all mechanisms, plastics and electronics are removed. ELEMENTO PARTE PRODUCTO wheels rudders Helixes spindles pulleys structures Electronic components Structures Endless screw Stepping motor Cd-rom unit Motor cc Pulleys Pinions Cpu racks Sensors Belts Stepping motors Belts Pulleys Power sources Ventilator switches Modem Relays Board Carcass Keyboard Board Carcass Board Dip switch Leds Structures Leds Structures Optical sensors Head movement mechanism FUNCIN cars, planes, motorbikes, rockets etc. Boats airplanes, helicopters Transmission of movement Transmission of movement Connecting rods, , fuselages Aquarium Controls, electronic systems Connecting rods, , fuselages Steering mechanism Wheeled power transmission Wheeled power transmission Transmission of movement Transmission of movement Steering mechanism, 4 wheeled vehicles Stops of run, to change direction of movement Transmission of movement Power transmission Transmission of movement Transmission of movement Energy source for motors and electrical systems Reels for helicopters or airplanes Electrical control system Electrical insulation between computer and robot, inversion of rotation Electrical control system Lights Manufacturing of pieces for bodies and other lights Various structures Movement control Stepping motor CC

Monitor

Base of monitor

Carcass Board Carcass Floppy

Tape Backup

source

Mouse

printing mechanism Printer head printer Paper mechanism Carcass Cables utp and Cables Cables Cartridge sledge (bubble jet) feed Belts wheels Sensors Structures sheathing

racks belts Pinions Pulleys Engine block (motorcycle) seats Transmission of movement Transmission of movement Movement limit Armouring or tracks and lead for wiring in articulated arms Electrical systems

HANDLING TOOLS AND INDUSTRIAL SAFETY

Without doubt, the correct use of tools and safety measures should be kept in mind when doing this project, thus avoiding accidents when handling the elements. When handling various elements like paste or metal sheets, one must know how to use the specific tools. For this reason it is not only important to know how to use the various tools, but also the type of material they were designed for. Working with this type of elements implies a risk. This is why it is important to know how to use tools, to know about protection and prevention and also to know tools and materials by their name. 1. Tools Here we present some tools needed for the manufacturing of robots, they are very common and simple and readily available.

Hammer

Toolbox

Calibrator

Cable pliers

Tape measure

Hole saws

Pole screwdriver

Drill bits

Electricians screwdrivers in various Precision screwdrivers Electricians scissors sizes.

Drill

Round beaked pliers

Flat beaked pliers

Swan beak pliers

punch

solder

Half rounded file

Flat file

Hacksaw

saw

metal shears

Hand saw

General pliers

Tester

Ruler

Proto boards

triangular file

Safety goggles

Silicone pistol

bench grip

portable grip

2. Additional tools Screwdrivers . Silicone brushes Acrylic glue or dental dust to unite paste. borer Low powered emery and good work top Heat gun (to shape the paste)

Paste is easy to manipulate, but it is also a dangerous material. That is why protective goggles should be used. When working with a drill or with a router, and also when using a heat gun, gloves should be worn in order to avoid burns. Do make sure the heat gun is switched off when removing it from the work area. A heat gun is a kina of industrial drier, it reach temperatures of over 100 Celsius. That is why the heat should be directed to the point where it is required. It should be switched off when not in use and always be handled with gloves The drill should be held firmly and the perforating part should be well supported, by e.g. a bench grip. Under no circumstances should the piece to be drilled be supported by hand. It is important to use earplugs when heating plastic, drilling and sawing.

Finally it is very important to recognise that safety equipment is neither a luxury nor a nuisance. It is there to guarantee safety and to reduce the risk of accidents.

Always use safety goggles when using emery, and nose protector or plugs when using chemicals to mix paste. Correct use of tools avoids lesions and/or accidents

ELECTRICAL AND MECHANICAL COMPONENTS

It is vitally important to analyze the mechanical and electronic systems in robotics and to understand its functioning and design, starting with mechanical models used in day-to-day life and to identify this waste components in floppy disk drives, CPUs, CD-ROM units and mouse to create, design and develop Robotic Art. By means of this Kit and its examples the technical recyclers will have the opportunity to experiment with mechanisms, observe changes and try new combinations that will allow them to observe and analyze the phenomena that occur.

1. Analysis of mechanical systems (Annex 1) 2. Electronic symbols applied to robotics (Annex 2)

MODULE 1

1. Construction of a helicopter, starting from the paste of the printer plugs, CPUs, acrylics and carcasses. In this section you will learn to shape the paste, to cut and perforate with all the available waste material. Then other models of helicopters are shown, combined with electronic elements an ad last painting as secondary decorative element. Steps: 1. Printing and cutting molds 2. Trace pieces onto paste as shown in the drawing. 3. Elaboration:

Make 2 copies of figure 1 Make 4 copies of figure 18 Make 2 copies of figure 15 Make 2 copies of figure 6 Make 4 copies of figure 5 Make 5 copies of figure 7 Make 4 copies of figure 8

4. Assembly

5 3

10 9 8 11 14 12 13

15 17 16

18

19

Finished prototype

Top view
13 18

11 4

14

15 9

Side view

1 6 5 7 8 10

19

9
12

2 2
12

Front view
13

17

16

The helicopter can be improved and elaborated in various shapes. This section is to learn to shape the paste and get familiar with the material. Now follow some more advanced prototypes of helicopters and a video presentation.

Helicopter version No 2, paste and acrylic. Parts used in this prototype: 1. Cartridges for printer FX 1170 2. Centre base of monitor 3. Printer plugs (Acrylic),for Windows and feet. 4. A floppy disc motor is used to move the helixes of the helicopter Crazy glue is used for gluing parts together.

Helicopter version No 3 paste and acrylic. This design is made with paste and acrylic to give it more body. Processor ventilators and screws are used, the latter to avoid the use of Crazyglue and chemicals in gluing parts together.

2. See helicopter videos 3. Activities and ideas on how to re-use disused monitors Other activities that can be done with paste is for example the re-use of monitors as aquariums (fishbowls).

MODULE 2 1. Basic electronic concepts The concepts needed for constructing robots are basic. Therefore it is worth to focus on the stepping motors, without placing too much stress on the technical part of electronics. In line with this, some Internet links are presented here where you can find electronics courses available, together with an easy to understand and practical software which is used to design electronic circuits. http://www.sc.ehu.es/sbweb/electronica/elec_basica/default.htm http://picmania.garcia-cuervo.com/Electronica_Basica.htm http://r-luis.xbot.es/descarga/files/ebasica.pdf

It is very important to use design tools for electronic circuits such as Crocodrile Clips 3, (see link) This is absolutely free: http://www.crocodile-clips.com/croctech/down3.htm (You need to register for this site).

Concepts: Voltage: differential name for electric power Direct Current (DC): Flow of electrons that move in the same direction, to be found in batteries, car batteries etc Alternate Current (AC): The flow of electrons varies in counter direction, e.g. electric wiring in a house (110 or 220 volt) where various appliances are connected to the electrical system (televisions etc) Protoboard Operation: This is a sole plate to do tests and mount all the elements that make up a circuit. Serial Circuit: A circuit in which all the elements or appliances are lined up in such a way that the current passes through each element without division or derivation in parallel circuits. When you have two or more resistances in series, the total resistance is calculated adding the values of the various resistances. When they are paralleled, the total value is calculated using a formula Parallel Circuit: In a parallel circuit the electrical appliances, e.g. fluorescent lights or the cells of a battery are lined up in a way that all positive (+) poles, electrodes and terminals unite in one conductor, and all the negative (-) poles in another, so that each unit is in a parallel derivation. The value of two equal resistances equals half the added resistance and in any case, the value of paralleled resistances is lower than the lowest value of each of the resistances applied. Voltage regulator: Allows 5 volts on output when input is 9 or 12 volts.

To learn about measuring voltage or taking measures with the multimeter or tester: To test or measure voltage you need to take a tester VCA or VCD according to the circumstances and verify that the cables (red + and black -) of the meter are connected correctly; then select the correct scale. Maximum scale is recommended.

To test resistance: The tester must be in Ohm units; verify that the cables are correctly connected and attached to the extremes of the appliance to be measured. The value will be displayed on the display. The other way of doing this is as shown in the table of the appliance according to the colour table. It is very important to learn to try LEDs, as a bad connection will burn these elements. You must know the difference between cathodes and anodes. Stepping motors Contrary to CC motors, that have maximum power output when they are connected to the power source, Stepping motors only work under a certain angle. The first only have two terminals for connection, the latter can have 4,5 or 6, according to the type of motor. On the other hand, CC motors (continuous current) cannot be fixed in a sole position, whereas this is possible with stepping motors. These are only some of the differences between the two types of motor. Using Stepping motors is of vital importance when we want to talk about robots, so we recommend getting more in depth knowledge into stepping motors used in PCs.

Recommended link: http://www.monografias.com/trabajos24/motores/motores.shtml On this site you can learn the technical part from how to control stepping motors without PC, PC controlled stepping motors and the necessary commands in the suitable PC language for this type of motors

MODULE 3

1. Here we present a more advanced example of Robot Art, where we begin to mix paste, electronic components and mechanical components. Among the electronic elements used in this motorbike are: Switches, taken from a main board, LEDs from monitors and boards in general, and some sensors from printers.
Design of an aesthetical motorbike

3
5 12 11

1 6

10 2 13

1. 2. 3. 4. 5. 6. 7. 8.

Printer heads Printer sensors Data cables Printer belt Mouse Heat vent Switches of a Main Board Power cable

9. CD-ROM motor 10. Printer axis 11. LED base 12. LEDs 13. Monitor base

Rear view.

Front view.

Light taken from a monitor

With this model you can already begin to make your own designs. You only have to take into account that, in this case, it is a static robot without moving parts. The parts are taken from waste peripheral components.

2. Vibration movement Now we will see how to generate movement: Lets look at this image
Guide or pinion Battery

Motor

You can give it any name you want; it is something very simple built with:

A rectangular plastic strip. 5 springs, 4 for the legs and one to support the head. A pointed piece of paste for the beak. One guide pinion, you find this in matrix printers. 1 9 -volt battery

1 DC motor and a flat metal piece that sits below and off centre of the axis of the motor. 1 Switch Fix (screw) the 4 springs on each of the angles of the rectangular piece of paste. Stretch the springs a bit and those are the feet (legs). Also fix the head with the 5th spring. What did we do? A vibrating movement that makes the metal piece decentralised to the axis of the motor.

Electrical design.

Flat Metal

Put the axis of the motor in the hole of the metal piece. The rotary movement makes that the metal element will be pushed outward (centrifugal force) and this way the robot will move in both directions with the help from his spring-legs, producing in this way a vibrating effect.

Robot using the same principle of vibration movement, where the motor is placed under the mouse.

As you can see, the figures and shapes may vary; the only limit is the imagination and creativity of the builder. With all the electrical and mechanical components we have seen so far, and with the tools we have covered, we can begin to design our own robots. From here on we will describe how to do this and which electronic waste components are needed. Electrical Circuit.

Module 4. 1. Building a Formula 1 race car In this section we will begin to implement some important elements such as sensors and diodes. The robot shown is similar to a Formula 1 car.

6 5 7

1 3 2 4

1. Paper rolls (Laser printer) 2. Printer sensors 3. Clips 4. Printer springs 5. CD-ROM plugs 6. Printer motors 7. Laptop batteries 8. Set of pinions 9. Monitor switch
Watch video

Number 2 2 1 2 2 1 3 2 2 2 2 2 1

Description Motor 12 Vol. DC taps Pinion base Paper rolls Batteries Switch Plugs Micro switches or sensors LEDs Clips Springs screws 100 ohm Resistance

Source Laser printer Matrix printers Laser printer Laser printer Laptop Monitor CD-ROM unit Matrix printers Monitor printers monitors Monitor

Part in robot Movement motors Rear rims Chassis Front wheels Power source On / off switch Publicity Avoiding obstacles Rear lights sensors Shock dampeners Fixing of shock dampeners Electrical circuit

You will also need 1 metre of RJ-45 cable to make the connections. The micro-switches of the printers must be NC (normally closed) because when the Formula1 is moving or encounters a shock n one of its corners the switch will go from NC to NO (Normally open) and the car will rotate only one of its wheels, thus avoiding the obstacle.

Electric Circuit Formula 1.

Used Mechanisms Direct traction force 4. Construction of sensors When dot printer sensors are not found, other techniques can be used to do various tasks as shown below:

Thin spring

Click or staff wire

Insulation Welded wire points, one to the spring and the other to the staff wire.

5. Building a plane Other practical sensors that can be used are small switches, lined up in such a way that when a wheel turns 360 , the switch switches off, and in this way intermittent light is obtained, as can be seen in the design of a plane. Also here you can put the parallel circuits into use, create a lightshow and additionally paint the Project to give it a different look. Another important element is that the use of acrylic blue can be avoided; using screws and brackets to put the paste together.

Intermittent lights

Intermittent light sensors

Watch video

Components of the KIT Number 2 2 4 2 mts 3 1 2 9 20 CMS 2 6 Description Motor 12 Vol. DC Paper guide covers Small paste columns Wire Paper wheels Foot or base Pieces of pasta LEDS Thin laminate Batteries Metal braces Source CD-ROM Matrix printers printers Cable RJ-45 printers laser Monitor Printer CPU display Monitor and printers Laptop Monitors Part in robot Stara motor and frontal helix Upper and lower wings Wing separators Wiring wings Wheels Helix hub propeller Helixes Intermittent lights Hexagonal figure and part of the helix Power source fasteners

These are some of the parts of the plane that need to be made. The grey in the drawing is metal. This piece must fit snugly in the fuselage and must be fastened with screws and brackets.

Parts in paste and metal

Electrical circuit

Motor helix

Front Wheel motor

In Module 4 we see how painting completely alters the look of the little robots. It makes them more lifelike. Therefore it is worth wile to study some painting techniques. Even though they are not part of e-waste, they have an important influence on the motivation and creativity of the participants.

Watch video

MODULE 5 1. Design of a forklift One of the challenges working with this kind of robots made out of waste material is to try to use complete parts, such as motor, sensors etc. The rest of the parts are lost. With the design of this forklift we try to show the complete use of a CD-ROM unit, as can be seen in the picture.

Forklift mast In this case you can see the mechanism of this unit, made up of pulleys, strips and switches that limit the upward and downward movement. You can also see the movement racks. Keep in mind that not all mechanisms in CD-ROMS are the same.

Back of the forklift This is the backside of the CD-ROM unit with its 12 volt motor, but it is possible to work with 5 volt that can be obtained from the power source of the CPU.

Pantograph and nails In this Picture you se that this forklift has a pantograph. Very easy to make.

Controls

Initially you can use de CPU switches as controls, later we will see how to control the robots using a PC. In this case there are 4 switches, 1 forward, 2 backward, 3 raises the mast, 4 lower the mast.

A few images that need to be made to make the pantograph. 4 bars in paste with their respective cuts at the ends. These will be connected with axles and screws in their centres and extremities, so that they are flexible in their movement.

Pantograph
4 3 2

Movement
2

3 2

1
The extremes 1 - 3 -4 need to be fastened with screws. 2 crosses the mast and is fastened on the other side with a screw.

Left hand side groove.

Mast, right hand view

2 4 3 2

3 2

Detailed description on how to build a forklift

ASSEMBLY KIT FOR FORKLIFT number Description 1 2 motor 12 Vol. DC Big axles, paper feed source Bubble jet printer 692 Drag kit of the bubble jet printer Drag kit of the dot printer fx 1170 Printer Okidata Printer FX 1170 Printer FX 1171 Printer 1050 Monitor Bubble jet printer 692 cpus acer Printer Printer 1170 CPU IBM Printer Okidata Cpu CD-ROM Unit CD-ROM Unit Printer Lx 810 Monitor monitor CPU sources Monitor Monitor Monitor CPU sources CPUs Printer Okidata Printers fx, lx, de burbuja etc Cpu activa IBM compra extra Part of robot Movement motor with dual direction Rear wheels

3 2 2 2 1 1 1 1 1 1 2 1 1 4 1 2 1 2 4 1 2 1 1 3 1 1 25 1 1

Paper guiding axles Pieces of straps , carriage mover Pieces of metal of the central shaft of the paper guide Paper tray support Black acrylic tape Spool Cartridge support CPU support Tractor safety Pinion CPU covers IBM Printer cover for base Loudspeaker Suspension corks CD-ROM Unit complete Springs LEDs Pieces of plastic insulation switches Button 10 resistace 47 resistance Power source Plastic frontal covers (removable) Upper plastic cover Meter of web cable Screws tapa frontal de cpu IBM circuito integrado 555

Front wheels On front wheels for better grip. Front wheel shafts Front Wheel supports Back cover for motor Serves as a crane Seat support Seat rotation control mechanism Rotation control Upper body forklift Base for motor and cabin Horn soften the drop of the nails Lifting system Reinforcement against inclination of nails and structure Reverse alarm signal Doors Movement controls, up and down movement Horn control Electrical control of forklift Electrical control of forklift Main power source to make pantograph to make structure Electrical wiring Assembly Control support para fabricar el amplificador del

2 2

condensadores de 10 y 0,1 uf resistencias de 4,7 y 10 kiohmios

monitores y boards monitores y boards

pito para fabricar el amplificador del pito para fabricar el amplificador del pito

2. Video forklift

3. Recycling hard discs In all computers we find an element that is subject to constant and rapid evolution. These are the hard disks. For the scope of Robot art, also hard disks of limited capacity can be used. It is important to know how to recognize some of its internal parts.

Disk storage- hitachi

Hard Disc without cover

Inferior cover

Structure

Metal without cover

Detail of disc heads without discs

Dismantling of hard disc

Internal filter and silicates

4. Building a bicycle Now we will see how to build a robot with those elements:

Version No 1 Bicycle

As the Picture shows moves this bicycle over a piece of nylon string, held in balance by the balance weight on Esther side. The bicycle goes into movement when the motor is switched on. In version 2 there is no movement in balance. In this case each of the wheels has a needle like guide where the nylon runs through. Version No 2 Bicycle

Number 4 1 2 1 1 metro

Description Discs Motor DC Batteries pin Cable

Source Hard disc CD-ROM Laptop Printer Rj-45

Part in robot Wheels Motor Power source Balance triangle Electrical circuit

Other important components are the magnets, which now become subject to experiments and investigation for the participants.

Module 6

1. Building a tetrapod
In the construction of this simple robot all the elements are parts of a computer. These parts have no other use. This KIT shows step by step how this project evolves. Its name comes from the number of legs (tetra = 4) and podo means leg.

Elements a. CD tray eject system This is the eject system of a malfunctioning CD unit. It must be sawn into the desired shape. The final pinion needs to keep the pace between the teeth of the pinions to transmit the movement to the legs. These must be drilled to attach the legs to the pinions with screws. A line of reference must be maintained between the centres of the templates to use a centre of the system. The system is propelled by its own motor.

b. Printer pinion The pinion and the base are taken from a Epson fx 1170 printer. These are to be drilled for the legs; afterwards the legs are screwed onto the pinions. It can be another element that will serve as bumper.

PINION WITH TEETH IN THE NECK

The two switches are activated by the screw in the pinion, as march limit (1) and in turn they will activate the inversion of rotation of the motor, generating the movement that will move the robot. As the pinion needs to be fixed to the plastic, this is done with the printers own spindles. These need to be cut to size to make room for the movement of the pinions, which sit at the base (2) of the tetrapod. The base has a semicircular hole where the screw that activates the micro switches and makes the prototype turn.

5 4

Pinion with legs without key screw

3
2

c.

Relays, switches and batteries

The relays are taken from the MODEM, the switches from the Mouse. With these elements the circuit that makes the motor move and turn are made. These switches are Normally Open (NO) and Normally Closed (NC). The relays manage the inversion of direction and the retentions of the motor. Further on we will show the circuit used in this robot. Another element used are the batteries that provide all the power needed in this prototype. There are AA or AAA types.

Each battery delivers 1.5 Volt of CC and the batteries are placed parallel to increase the power and thus supply the power needed to move the weight. The ON/OFF switch is a frontal module of a printer but can be any ON/OFF switch. There are innumerable elements of which the plastic laminate can be obtained. To this laminate the switches and pinions are attached.

d. Direction inverter circuit The circuit consists of two Relays, taken from a disused MODEM, and the micro switches are taken from printers. These will act as keys to the direction and in their turn they will retain the direction. Important! Each relay must contain 2 sets of connectors NC or NO (Normally Close or Normally Open).

RLY1 5VSPDT

S2

RLY2 5VSPDT

+ V1 10V S1

D1 LED1

D2 LED1

RLY4 5VSPDT

RLY3 5VSPDT

Elements of the KIT: Plastic base, spindles, pinions and legs, micro switches, CD ROM mechanism. Now we will see how it is put together.

The pinion with the legs (4) that contains the protruding screw is the first element. The screw has to go into the semicircular hole in the base. This has to go into the spindle and is screwed onto the second pinion. Also this pinion has its own screw and spindle. The pinion with the teeth needs to be placed in the back, in the side which has the neck. This is the pinion that will transmit the mechanism to the pinion with the legs. This is a small reduction box in which the power for the tetrapod is increased, enabling it to move the smaller pinions and the upper part of the big pinion.

PARTS OF THE TETRAPOD

1
8 2

1
7 1 3 6 5

1
4

1. 2. 3. 4. 5. 6. 7. 8. 9.

Base tetrapod. Pinion with teeth in neck. Screw and spindle. Battery Pinion with key screw. key screw CD-ROM mechanism Motor. Relays

Watch video

TETRAPOD VERSION 1

TETRAPOD VERSION 2

6. Watch Video

Module 7. 1. Control Station. Within the whole recycling treatment there is also room to re-use the entire computer unit, units with 286, 386 and 486 processors, with a 500 MB optimized hard disk (recommended). With this we want to give a new design to the control station, to redesign the robots brain. Each of the internal components is shown to the participants or students, so that they get familiar which each of the components and can build their own systems. Here are some pictures of control stations.

2. Interface. Once the workstation and the robot have been built (386 o 486), one more element is needed to have the two communicate. This is the interface, needed to transfer commands from the computer to the small robot, making it move. This interface can be made with the same waste elements or recycled material. It is made up of some integrated circuits and LED s so visualize data output. (The address of output portal is 378H and for the input 379H)

INPUT
CONNECTORS
IN 4 IN 3 IN 2 IN 1 IN 0 RB 7 RB 6

OUT

RB5 RB 4 RB 3 RB 2 RB 1 RB 0

74HC04

ULN2003

7415245

7415245

13

25

14

DB 25
Before assembling the circuits of the interface it is useful to try out the integrated circuits and LEDs to verify that they work properly.

The following Picture shows a robot made with a Floppy 5 and the interface mounted on a protoboard.

3. Watch Video

INVENTORY OF PARTS USED FOR THE CONSTRUCTION OF ROBOTS.

Interface Protoboard Voltage adaptors Digital Multimetre Interface w Resistances Lineal and logarithmical power gauges Micro switches LED s Integrated circuits, suitable for interface Sensors Motors, stepping and continuous Pinions Pulleys Wheels Plastic waste Matrix printers Mouse Hard disks Modems Monitors Video card Power cables Cables RJ-45 Sound card Internet card 3 floppy units 5 floppy units CD-ROM units Main boards

TESTIMONIAL. Testimonio.gif This robotics manual is an open proposal to the entire Latin-American and Caribbean community, and also to whomever wants, in some way or other, take part in science and technology to lean hands on, to teach others to build their own robots and elevate imagination and creativity. In Colombia this Project was started with youths from a popular neighbourhood in the city of Medellin. The participation of these youths was a great success. The youths themselves displayed their inventions and teach others with the support of assessor of the work crew. Here are some images of an ARTS AND SCIENCE day in the city of Medellin-Colombia. This campaign was set up by members of the PARQUE EXPLORA, where the entire community is invited to participate in various activities, such as textile, music and especially robotics.

Old car controlled by Joystick

Workshops (practical and theoretical) in mechanics and electronics.

Participation of student and community leaders

Young community member shows his robot and invites the community to participate.

Bibliography

1. Redaction and elaboration, MANUAL DE ROBOTICA EDUCATIVA by: ngel Ferney Toro Engineer Consultant Canada- Toronto July 30, 2007 [email protected]. 2. Support: Engineer Javier Velsquez Engineer Jaime Molina

3. Links

http://picmania.garcia-cuervo.com/Electronica_Basica.htm http://www.crocodile-clips.com/croctech/down3.htm http://www.monografias.com/trabajos24/motores/motores.shtml

ARTE ROBTICA: UN Manifiesto, Eduardo Kac and Marcel.li Antunez Roca,Octubre 1996

DIFFRENT TYPES OF MECHANISMS

Explanation This simple machine is used to lift charges to a certain height. The simple pulley is made up by fixd pulley and a rope. It is used in wells or to lift weights on a building site. Pulling one end of the rope, the pullye inverts the power applied. Therefore their is no real mechamivcal advantage. The desplacement that causes the force on the rope equals the heigth of the charge, so that: L=H A=1 where Simple machine Simple pulley A : mechanical advantage L : desplacement caused by the applied force H : height of charge As far as applied force is concerned we know that F applied = m g Where m : massa of the charge g : acceleration of gravity The pulley block is a simple machine used to lift heavy charges to a certain height.It is made up of a fixed pulley and other mobile pulleys, linked toi th efirst pulley by means of a rope It is used in a similar way to the simple pulley, but in cse of the pulley block the forcre needed is inferior to the simple pulley, and thus has a mechanical advantage. The force needed to lift a chare is divided by the number of pulleys in total. The drawback to this is that you have to pull more rope than in the simple pulley, In the simplest case of the figure, in which each block is formed by one pulley, de des`placement that causres the force is double the heigth travelled by the charge, and the force applied is only half the weight, so that F applied = m g / 2 A=2 Pulley block where F applied : force applied m : mass of the charge g : acceleration of gravity A : mechanical advantage and L = 2H where L : desplacement caused by force applied H : height travelled by charge Pulleys of tape back up, mouse cables , keyboards and web Lifting system in elevator elevator Pulleys of tape back up, mouse cables , keyboards and web Lifting mechanism in cranes Crane truck

Type of mechanism

Mechanism

Sketch of mechanism

Raw waste

Photo Raw Waste

Suggested prototype

Robot

The winch or capstan is a simple machine made up of a drum with a rope and a crank, and is used to lift weights upto the height of the drum. When the arm of the crank is larger than the diametre of the drum, there is mechanical advantage. To measure how far the charge goes up => the rope coils in the drum. Therefore, the effective diametre of the drum can vary during the ascent. To have equilibrium the weight and the force applied mus be equal, so that: m g D / 2 = F applied R where m : mass of charge g : acceleration of gravity D : diameter of the drum F applied : force applied R : arm of crank and A=2R/D where A : mechanical advantage This mechanism allows the transmission of movement between moving axles. The motor axle always coincides with the endless screw, which in turn communicates the movement to the toothed wheel that interlocks with it. This wheel is called the crown. In no case the crown can be used as motor wheel. You can see an endless screw in many mechanical counters.. For each turn of the crown, the screw has as many evolutions as there are teeth in the crown. Therefore the transmission of teh mechanism is simply i = 1 / d crown where i : transmission ratio d crown : number of teeth of crown The ratio is inferior to the unit, so that the mechanism always works as a reductor. Alternatively the ratio can be calculated in function of the primitive diameter of the crown and the pace of the thread on the screw, defined as the distance between two consecutive grooves of the helix. The formula is: i = p / (p D crown) where p : pace of thread of the screw D crown : primitive diameter of the crown Matrix printer belts, mouse cables, keyboards Subterranean well mechanism

Hoist

Steel roller

Transmission of movement

Endless screwcrown

Bubble jet printer mechanism and back up tape units

Publicity bay mechanisms

publicity bay

This mechanism is made up of two conical toothed wheels. The pace of the wheel depends on the desired section, because they must interlock with wheels with similar characteristics. The mechanism allows the transfer of movement between axis that are intersecting. In drills this mechanism is used to change drill bits. Where normally the axis of the spindles is perpendicular, the system also works for angles between 0 y 180. The capacity of the mechsnism remains the same as in a 90 angle. The ratio of the transmission of the mechanism is determined by the number of teeth Conical gear in te wheels according to Transmission system in matrix printers Transmission of movement main rotor helicopter HELICOPTER

i = z conductor / z conducted

where

i :ransmission ratio z conductor : number of teeth of the conducting wheel z conducted :number of teeth of the conducted wheel This mechanism is made up of two straight cilindrical wheels. It is very strong, but it only transmits movement between axis that are close to each other and that, in general are positioned parallel. In some cases this system can be noisy, but it is usefull to transmit elevated forces. It needs oiling to reduce friction. This type of mechanism can be found in typewriters. Note that the wheels turn in opposite direction. Each toothed wheel is characterized by the number of teeth and the primitive diametre. These two values determine the pace, which has to be the same for boh wheels. The smaller wheel is usually called pinion. The ratio of transmission in the mechanism is determined by the number of teeth in the wheels. Formula: Straight gear Bubble jet printer mechanism Rear transmission vehicles JEEP WILLYS

i = z conductor / z conducted where i :transmission ratio z conductor : number of teeth of the conducting wheel z conducted :number of teeth of the conducted wheel

The mechanism s composed of two simple ribbed wheels, so that they can be connected via a belt or a tense leash. The set-up allows the silent transmission of movement between two linked axis. The belt always undergoes a considerable stress and can break in time. It must be tightened very well, with a flange or tightening wheel, in order to avoid sliping or variations in transmission ratio. It is not used often in situations where elevated forces need to be transmitted. No es un mecanismo que se use demasiado cuando se trata de transmitir potencias elevadas. Sewing machines usually use pulleys.Each ribbed wheel is characterised by Pulleys its diameter (you need to consider the width of teh canal). Transmission ratio: i = D conductor / D conducted Opening system CD ROM units Transmission in motorbikes MOTO HARLEY DAVIDSON

where i : transmission ratio D conductor : diameter of the conductor wheel D conducted : dimeter or the conducted wheel The movement is transmitted between parallel spindles or between spindles at an angle between 0 and 180. As in the case of sprockets, there are straight and conical friction wheels. The mechanism is formed by two wheels which are in direct contact, under a certain pressure. De wheel is coated with a special material, so that te transmission of movement is produced by fricton between the two wheels. Audio and video equipment uses friction to facilitate the tape advancement. If the wheels are on the outside, they move in opposite directions. This system is not recommended for the transfer of elevated forces. Torque can be lost and there is a real slipping danger. Furthermore the material that causes the friction erodes with use. Ratio is calculated as followsL Friction wheels i = D conductor / D conducted where Back up tape units transmission of movement in helixes for an airplane airplane

i : transmission ratio D conductor : diameter of the conductor wheel D conducted : diameter of the conducted wheel

In case of conical wheels, take the diameter of the part of the wheels where they are in contact.

When you need to transmit a movement between two linked axis, varying the rati oof transmission, you can use this mechanism. The two toothed wheels communicate by means of a chain or a dented belt. When a chain is used, the system is rather strong, but slower and noisier than pulleys All bicycles use a chain transmission system. The parts of the chain are linked together, and depending on the number of holes, hook into one or more teeth of the wheel. In some machines the smaller wheel is called pinion and the bigger is called disc, Sometimes the chain can slide of teh wheels and transmission is lost. This mechanism allows both wheels to turn in te same direction. Formula: Chain transmission Big Matrix printers

SIMULATION

transmission of movement

bicycle

i = z conductor / z conducted

where

i : transmission ratio z conductor : number of teeth on conducting wheel z conducted :number of teeth on conducted wheel This mechanism is formed by more than two simple toothed wheels that interlock. Here we refer to the simplest case, where we only have 3 wheels. The motor wheel transmits the movement to an intermediate wheel, called idle wheel. Finally the movement is transmitted to the single wheel attached to the resisting axis. This set up allows the motor axis and te resistance to girate in the same direction. It also allows transmissin between two axis that are placed at some distance. You can find this mechanism inside mechanical watches The ratio is calculated as follows i = i1 i2 where i : mechanism transmission ratio i1 : ratio between wheels 1 and 2 i2 : ratio between wheels 2 and 3 You can immediately understand that, using this formula, the idle wheel does not influence the ratio of transmission of the system. It simply acts as an intermediary between the outer wheels. This result is the same for any number of idle wheels. So we have this simple formula:E i = z conductor / z resistance donde i : transmission ratio z conductor : number of teeth in the conducting wheel z resistance : number of teeth in the resistance wheel

cogs

matrix printer rotation train system

transmission of movement

Spider

In this mechanism the movement of a crank or shaft causes an alternate linear movement of a piston or swab. A rod is used to link the two pieces. With the help of an initial push or inertia wheel, the alternate movement of teh piston is converted in a circular movent of the crank. The linear movement is possible because of a guide or cylinder, in which the movement takes place. This mechanism is used in many vehicles. The maximum movement of the piston is called the carreer of the piston. The extreme points correspond to the two opposite positions of the crank. The arm of the crank (distance between the spindle and the connection with the rod) is equal to half the carreer of the piston. The piston does two carreers for each turn of the crank, so the ratio is: Vm = 2 w R / p Transformation of movement Crank and flywheel where Vm : half the speed of the piston w : velocity of rotaion of crank R : crank arm To calculate the max. velocity of the piston is more difficult and basically depends on the length of the rod. When the rod is longer than the arm of the crank, maximum velocity is reached approximately at half the carreer and has as value: VM = w R where VM : max. velocity of the piston The rotation of a screw around its spindle produces a linear advance movement, which brings it closer or further from its fixed nut. Alternatively a mobile nut can move in the same way along a screw or worm. The mechanism resists great pressure in the direction of movement of the screw. Therefore it is used in machine vices. There are various tipes of screws and worms. A characteristic parameter is the number of entries or grooves (independent helixes) of the screw . With screws with only one inlet, the pace of the thread coincides with the movement of the screw at 360 on its spindle. Therefore the velocities are Screw torque V = w p / (2 p) Back up tape units and floppys This is a composed system. Parts can be obtained from printers, tape back upo units and other

transmission of movement in trains

Train engine

where

V : velocity of forward movement of screw w : velocity of rotation of screo p : pace of thread

The lever is an excentric element that usually turns with the axis of the motor. When turning, the shape of the lever causes a wheel or a feeler to go up or down. The opposite effect is not possible. The feeler can move, directly or indirectly, a valve or whatever other element. When we need to open or close a number of valves at the same time, various levers could be placed on one lever arm. This is used in engines. De downward movement of the feeler can be caused by its own weight, but usually a spring is used. The maximum vertical movement of the feeler is called the carreer of the feeler. The extreme points of the carreer correspond to the outer points of leverage with maximum (max radius) or minimum (min radius) distance in respect to the spindel of the rotation. The numeric value of the carreer is obtained by deducting Lever-tracker the min radius from the max radius. There are many vary different levers. Calcualting the instantaneous velocity of the feeler is rather complicated. For each time the lever is lifted, the feeler makes two carreers, so we can determine the speed with this formula: V=wC/p where V : velocity of the feeler w : lever velocity This mechanism transforms the movement of a small toothed wheel (pinion) into a linear movement, limited by a sprocket or toothed belt. The opposite movement is also possible. It is easy to see a pinnion- sprocket in doors of public transport. the pace of the pinion and the pace (pace=distance between teeth) of the sprocket need to co-incide to have the mechanism work well The pace can be calculated starting from the characteristics of the pinion. p=pD/z where Pinion sprocket p : pace of pinion or sprocket D : primnitive diametre of pinion z : number of teeth on pinion The speeds of both elements are detemined by the dimensions of the pinion, or: V=wD/2 where V :speed of the sprocket w : rotation speed of pinion Matrix printer head movement system, opening system CD ROM unit. Lift system of mast in froklifts Forklifts This is a composed system. Parts can be obtained from printers, tape back upo units and other movement transmission in the wings of a bird Pterodactyl

Electronic symbols applied to robotics This list does not contain all existing symbols and components but it is a start and contains the symbols that are important to us to be anble to begin robotics with waste material.
Grafics and symbols Definition

Description

Source of waste elements

Photo raw waste

cross of conductors

Two lines that cross each other drawing of electrical and electronic plans in without contact or connection robots Two connecting lines. drawing of electrical and electronic plans in robots

union of conductors

Baterry

power source of robot

drawing of electrical and electronic plans in robots

Negative pole or mass

neutrals or earthings of electrical drawing of electrical and electronic plans in and electronic circuits robots

Transformer

Copper spool. It allows to reduce Found in power sources on the body, tension, in our case from 220 voltagfe regulators, printers Volt to 5V, 12V, 24V, etc.

LED

Light Emitting Diode, exiss in reds, greens, blues, yellows but Found in main board of processor, monitor also infrared, laser and other. Its board, printer board and keyboards. terminals are anode or cathode

diode

Just as LED's its terminals are anode or cathode (the last is Found in main board of processor, monitor identified with a strip on one of its board, printer board and keyboards. sides) but do not emit light

Resistances or resistors

Present a certain resistance to the electrical current. Its values are expressed in Ohms, according to the color coding

Mainly found on monitor boards and matrix dot printers. The drawing on the right shows an example:100 resistance, First Band Coffee = 1, second, Black = 0, and the third is the number of zeros, red = 2, thus its value is 1000

Power gauges

Variable resistances, they have a carbon circuit and a cursor. According to the position of the cursor the value of resistance changes.

controls of the speakers of analog monitors

ceramic capacitator

These components can store small electrical charges. Its value is expressed in faradic pico or Nanofaradio, according to an agreed code. Terminals are all teh same, it does not matter which side is connected. These store more energy than the ceramics. Here the polarity o the terminals matters The shortest is negative. They can also be identified by the sign on the body of the component.

monitor boards

Condensator or electrolite capacitator

monitor boards

Transistors

A transistor can control a very high voltage current starting from monitor boards, printers and main board of a very small one- Very commoin CPUs in amplifiers.Terminals ; Collector, Base and emitter,

SCR o TIC 106 .

Electronic keys. They are activated by a positive pulse in teh G terminal. Very common in monitor boards alarm systems. Terminals Anodic, Cathodic and Gatillo

An integrated circuit (IC) has a large number of very small components . An IC has various functions or applications, depending on the IC. These can be amplifiers, counters, Integrated circuits (IC) multiplexors, codifiers,flip-flop, etc. Its terminals are located counter clockwise from a given point of reference.

Video cards, fax MODEM cards, Internet cards, M boards

Relay

This is basically a power appliance. It has amicro -imn that serves as an intermediary to activate a switch which is completely independant from the electro-imn.

fax-modem , very important in robotics

Protoboard

Is needed to insert almost all electronic components.

tools

Motor Cc

Device that supplies an electrical motor power

Motores de unidad de CD-ROM

stepping motors

Stepping Motores only turn under a certain angle. The first only have two terminals, the others can have 4,5 or 6, according to the type of motor.

Motores de impresora paso paso o de unidades 3 1/2 y 5 1/4

power cable

110 volt power cable

Cpu and Monitors

Data cable

Transmits data between the Connections of hard disks, floppys and CD various appliances that link to the ROM computer

swiches Mouse

Small pulsating (hand operated) devices to give an order to the Mouse computer

switch

Switches the CPU on and off

body

DB-25

Parallel port with 25 pin connector

back side of CPU (male and female)

DB-9

9 pin connector

Found on the backside of the CPU, where the mouse is usually connected.

Connector RJ-45

Used to connect to structured wired nets

Waste from a net

Display

Display of 7segments which is used to indicate any change

Frontal part of bodies otr CPU 486, and 386

heat disperser

As its name implies it disperses heat so that the protected element does not overheat.

on top of processors and in monitors

Integrated circuit carrier

Sits under the Integrated Circuit

main boards.

Hard Disco

Discs that contain information in magnetic form.

hard disc