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CHAPTER 7 MINE SWEEPER
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Start building the right finger subassembly.
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CHAPTER 7 MINE SWEEPER
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The right finger subassembly is done.
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CHAPTER 7 MINE SWEEPER
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Start building the left finger subassembly.
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CHAPTER 7 MINE SWEEPER
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The left finger subassembly is done.
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CHAPTER 7 MINE SWEEPER
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Attach the fingers to the grabber arm, so that they open and close symmetrically. Turn the model and add a blocking beam. The grabber arm is done.
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CHAPTER 7 MINE SWEEPER
Insert the grabber arm into its place in the grabber motor assembly. Add a 9-long beam, a black pin, and a long pin.
CHAPTER 7 MINE SWEEPER
Add two bent beams, then the 20-tooth gear and the bush. Attach two black pins to the longer bent liftarm. Add the 40-tooth gear, and the grabber assembly is finished. Now you can try the underactuated mechanism, turning the bevel gear by hand.
CHAPTER 7 MINE SWEEPER
Attach the grabber assembly to the right side of the robot.
CHAPTER 7 MINE SWEEPER
Start building the left wheel assembly. In Step 73, insert two black pins in the motor s rear.
CHAPTER 7 MINE SWEEPER
Attach the wheel, then turn the model and insert the bent beam in the wheel axle, securing it with a bush.
CHAPTER 7 MINE SWEEPER
Add an 11 holes-long beam in Step 81.
CHAPTER 7 MINE SWEEPER
In Step 84, place two 11 holes-long beams and a 13 holes-long beam as shown. The left wheel assembly is done.
CHAPTER 7 MINE SWEEPER
Attach the left wheel assembly to the rest of the robot.
CHAPTER 7 MINE SWEEPER
Start building the frame that will be placed in the back of the robot to hold together the three main parts you just built.
CHAPTER 7 MINE SWEEPER
Continue building the frame as shown.
CHAPTER 7 MINE SWEEPER
This frame also holds the rear passive wheel.
CHAPTER 7 MINE SWEEPER
Attach the frame on the back of the robot. Step 108 is tricky, because you have to insert 14 pins in their correct holes.
CHAPTER 7 MINE SWEEPER
Here you can see how the back frame looks when attached.
CHAPTER 7 MINE SWEEPER
Rotate the robot and insert a 9-long beam.
CHAPTER 7 MINE SWEEPER
Start building the front scanner of the robot.
CHAPTER 7 MINE SWEEPER
Add the Light Sensor and the Ultrasonic Sensor.
CHAPTER 7 MINE SWEEPER
Complete the front scanner.
CHAPTER 7 MINE SWEEPER
Here s how the robot looks when the front scanner is attached.
CHAPTER 7 MINE SWEEPER
Build the NXT holder frame.
CHAPTER 7 MINE SWEEPER
The NXT frame will stand on the top of the robot.
CHAPTER 7 MINE SWEEPER
Complete the NXT frame assembly.
CHAPTER 7 MINE SWEEPER
Attach the NXT frame on the robot as shown.
CHAPTER 7 MINE SWEEPER
Attach the left wheel motor to NXT output port A, the grabber motor to port B, and the right wheel motor to port C. Use three 35cm (14 inch) cables. Pass these cables through the NXT frame s top beams as shown here and in the next figure.
CHAPTER 7 MINE SWEEPER
Attach the Ultrasonic Sensor to NXT input port 4 using a 50cm (20 inch) cable.
CHAPTER 7 MINE SWEEPER
Attach the Light Sensor (mine scanner) to NXT input port 1 using another 50cm (20 inch) cable.
CHAPTER 7 MINE SWEEPER
The Mine Sweeper is completed.
CHAPTER 7 MINE SWEEPER
Mines Building Instructions
In the NXT retail set there are no 2 4 black bricks, which are ideal to build the mines for our robot. So, you ll now see how to build four kinds of mines using the NXT set parts left. These mines are of the right size and color, so that the Mine Sweeper will be able to detect and handle them.
Figure 7-9. Mines bill of materials Table 7-3. Mines Bill of Materials
Quantity
6 1 1 4 2 2 2 7 2 1 3 2
Color
Blue Black Dark gray Dark gray Dark gray Black Black Black Black Black Black Dark gray
Part Number
43093.DAT 3705.DAT 32140.DAT 3701.DAT 41678.DAT 32136.DAT 32184.DAT 2780.DAT 32557.DAT 4716.DAT 32062.DAT 32291.DAT
Part Name
TECHNIC Axle Pin with Friction TECHNIC Axle 4 TECHNIC Beam 5 Liftarm Bent 90 (4:2) TECHNIC Brick 1 4 with Holes TECHNIC Axle Joiner Perpendicular Double Split TECHNIC Pin 3L Double TECHNIC Axle Joiner Perpendicular 3L TECHNIC Pin with Friction and Slots TECHNIC Pin Joiner Dual Perpendicular TECHNIC Worm Screw TECHNIC Axle 2 Notched TECHNIC Axle Joiner Perpendicular Double
37 parts total (all included in NXT retail set)
CHAPTER 7 MINE SWEEPER
Here you are building both the first and second kind of mine.
CHAPTER 7 MINE SWEEPER
Now you are building the third and fourth kind of mine. Notice that all these mines are made in a color and shape such that the robot can detect and handle them.
CHAPTER 7 MINE SWEEPER
Summary
Though it s a wheeled robot, the Mine Sweeper is unique. Its peculiarity is the ability to detect, grab, and store mines (two piled 2 4 black bricks are ideal) scattered around its working area. This model has shown you an interesting hardware underactuated mechanism to accomplish two different tasks with the same motor (grabbing and storing the objects into its capacious hold). On the software side, you learned how to drive a wheeled robot with precision, when needed to accomplish refined tasks in this case, to align the robot with the mine. The treaded robot you will see in the next chapter is really something else. JohnNXT is a stunning robot, and you ll have the opportunity to see why.
Exercise 7-1. Further Ideas
1. Improve the mine-centering algorithm by adding the mine width measurement. As a suggestion, use the following code: int FindMineWidth( short edge ) { int x; byte ev; unsigned long time = CurrentTick(); // save start position x = MotorRotationCount(LEFT_WHEEL); Spin(sign(edge)); if (edge == LEFT) { // ignore the first edge found (the right one) WaitEdge(APPROACHING); } // wait for edge, dismissing with timeout constraint ev = WaitEdge(DISMISSING); Off(WHEELS); if (ev == EDGE_EV) { // if the edge was found, save position x = MotorRotationCount(LEFT_WHEEL); } return x; }
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