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CHAPTER 6 NXT TURTLE
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First, attach a 20cm (8 inch) cable to the head motor. Then, attach a 50cm (25 inch) cable to the Ultrasonic Sensor. Let these cables pass between the legs motors and come outside from the back. You ll attach them to the NXT ports later.
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CHAPTER 6 NXT TURTLE
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Start building the turtle s shell.
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CHAPTER 6 NXT TURTLE
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Build the Sound Sensor assembly.
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CHAPTER 6 NXT TURTLE
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Build the other side of the shell and attach it to the rest of the assembly.
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CHAPTER 6 NXT TURTLE
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The shell is finished.
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Put the shield on the turtle, making sure to insert the geartrain axles for the legs into the dark gray bent beam holes of the shield. In this way, cross-bracing will keep the whole structure together. Arrange the head sensor cable between the legs motors, so that it can slide freely while the head goes in and out.
CHAPTER 6 NXT TURTLE
This foreshortening of the turtle s back shows how to connect a 35cm (14 inch) cable to the Sound Sensor. You ll attach this cable to the NXT later.
CHAPTER 6 NXT TURTLE
Build the back frame that holds the motors together with the shell. Notice how the cross-bracing technique is employed to strengthen the model.
CHAPTER 6 NXT TURTLE
Build the back Light Sensor assembly. It will be used to follow lines.
CHAPTER 6 NXT TURTLE
Attach this sensor assembly to the turtle s back.
CHAPTER 6 NXT TURTLE
Attach a 35cm (14 inch) cable to the Light Sensor.
CHAPTER 6 NXT TURTLE
Build the reinforcement frame and attach it to the turtle. Pass the head sensor cable over this frame, and not below.
CHAPTER 6 NXT TURTLE
As you did in the back, now build the cross-bracing structure in the front of the turtle. This assembly shapes the front of the turtle s shell and holds the whole thing together.
CHAPTER 6 NXT TURTLE
If you re going to use normal batteries, follow this version. Remember to insert batteries in the NXT before attaching it to the shield. To change batteries, you just have to pull the long pins away, without disassembling the turtle.
CHAPTER 6 NXT TURTLE
If you have the Li-Ion battery pack, then follow these instructions to build the blocks that will hold the NXT. The battery makes the NXT thicker, so a different structure is needed to hold it in place.
CHAPTER 6 NXT TURTLE
This illustration shows how the frames holding the side together look when assembled. Attach the cables to the NXT input ports as shown in the next step.
CHAPTER 6 NXT TURTLE
The building process continues the same way, no matter how you connected the NXT to the robot, depending on what kind of batteries you are using.
This page shows how to attach the sensor cables to the NXT. You must connect the Sound Sensor to input port 1, the Ultrasonic Sensor to port 2, and the Light Sensor to port 3. Curl the Light Sensor cable to shorten it. If you are using the rechargeable battery and thus you have built the side frame to hold the NXT, you can pass the cables where shown in Figure 6-1.
CHAPTER 6 NXT TURTLE
Turn the turtle and attach the right motor to NXT output port C with a 35cm (14 inch) cable, rolling it two times around the back sensor frame. Attach the head motor cable to NXT output port B.
CHAPTER 6 NXT TURTLE
Attach the left motor to NXT output port A with a 35cm (14 inch) cable, rolling it two times as before.
CHAPTER 6 NXT TURTLE
The turtle is finished!
Design Thoughts
This model hit the Web in April 2006 and a bunch of heavily inspired copies popped up right away. It was a sign of great appreciation! The turtle s head was originally different. At the beginning, there was no Ultrasonic Sensor, and the motor formed the head itself. Then, due to this web cross-inspiration, I came upon the actual shape, including an Ultrasonic Sensor. The turtle is designed to go slowly, just as the real ones do. You can dramatically redesign the legs to move more quickly. You can do this by removing the gear reduction and coupling the motor shaft directly to the cams made with the 24-tooth gears. I tried hard to keep the shell profile low because lifting too much of the NXT brick (even if it were useful to make room for sensors and mechanisms) would result in a bulky turtle a box with legs attached! I designed the leg shape in one try and tuned the position of the rubber fingers for the best grip. The shell shape passed through many refinements, as the NXT brick was rotated by 90 degrees as compared to the first prototype, to fit better on the turtle and reduce the overall size. As you ll notice, the robot frame is strong. Cross-bracing parts hold the leg subassemblies to the head motor and the rest of the upper body.
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