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CHAPTER 6 STRINGBOT PLANNING AND DESIGN
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it both ways design a HeavyStringBot and a LightStringBot and see which one solves the challenge faster.) We might encounter more constraints as the project moves forward. Or maybe you ve come up with a constraint or two not mentioned here. Perfect. Keep them in mind when designing your own version of the StringBot.
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Mindstorm
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I like this section. It s my favorite part of the process before I actually start grabbing and putting pieces together. When you are mindstorming, there are no right or wrong ideas. Just find a comfortable chair and start thinking about your bot. You ve probably already got a ton of ideas floating around in your head; this is the time to put the best of them down on paper. And if you think you re not that creative, let me make another suggestion. Sometimes I have difficulty getting creative. I might be tired or just not in the mood to do some heavy thinking. If this happens to you, especially now that you re trying to get your StringBot design started, it can be frustrating. What I do when I find that my creative energies are not at full strength is to play a game called Won t Work. With Won t Work, instead of focusing on solutions to the challenge, you re going to think about solutions that (ta-da) won t work. The idea is that if you re not feeling creative (typically considered a positive emotion), you can be anti-creative. (Okay, I made up that word, but it does work. Trust me.) By thinking about things that won t work, I typically begin to start finding things that will work . . . and then I m thinking creatively. Here are a couple of examples of my Won t Work session: 1. I ll never get the bot to cross the string by walking across like a human it requires too much balance. 2. I can t lower the bot into the jar (its weight might set off the trigger). If the weight isn t enough, I won t get the bot back for further attempts. Your vision of the StringBot is probably going to be very different from mine. Whether you use the Won t Work trick or immediately start putting your thoughts down on the Design Journal page, you re beginning to finalize the design of your StringBot and how it will work. Take a look at Figure 6-6 and you ll see the ideas I ve written down for the Mindstorm section of the Design Journal page. The first Mindstorm entry came to me fairly quickly I need to find a way to add friction to the string so plastic rims or wheels won t spin in place. I know from playing around with my Mindstorms NXT kit that most of the pieces are made of very smooth plastic. My thoughts for the StringBot don t include hands and arms like a monkey. I plan on building a StringBot that moves along a string like a cable car (see Figure 6-7). I m concerned that if I use one or two pulley wheels, the small wheels will slip on the string. When I begin to build, I m going to try to incorporate one of the rubber wheels, because I think the rubber probably won t slip on the string.
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CHAPTER 6 STRINGBOT PLANNING AND DESIGN
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Figure 6-6. The Mindstorm section will help you to complete your StringBot design.
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Figure 6-7. My StringBot will work like a cable car. But will the small pulley wheels slip
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CHAPTER 6 STRINGBOT PLANNING AND DESIGN
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I won t go through every item on my Mindstorm list, but there are a couple more items I feel are important for me to explain. The first is, Find a way to accurately drop the object into the jar string hanging down vertically Most jars that I own have small openings at the top. I don t want my StringBot wasting time moving down the string and missing the drop. Maybe for your challenge setup you ll use a large jar or box, but where s the fun in that So it occurred to me that I better come up with a way for my bot to accurately drop its held object right into the jar. I ll obviously test my bot many times by observing where the object falls when the carrier releases it. What I think I ll do is tie a piece of loose string around my bot. Gravity will keep the string hanging straight down; when the string moves over the jar and is roughly in the center of the jar, I ll know to stop the StringBot and release the object. Two other items in my Mindstorm box mention making the bot pause after certain actions. I believe (because I haven t tested it) that the bot will swing a little when it comes to a stop and after it drops the object. I want the bot to stabilize before it drops the object, and then again before it begins its return trip. If the bot is swinging, the dropped object might miss the jar. Also, a swinging bot might jump the string, and then it won t be able to return. Your main objective here is to simply have some fun and write down some of your initial thoughts on what you d like to do with your bot design. You may have to take a completely different direction after some testing. You may find that you exhaust your supply of a particular component. What you write down is not going to lock you in to a particular design. You can change the design anytime even start completely over. Print out another Design Journal page and try a different design. It s supposed to be fun, so make it fun. Go crazy with your ideas the crazier, the better! The final Mindstorm item I want to quickly discuss is, Make the bot start slow and speed up so it doesn t jump the string. I added this item because, in my earlier NXT experiments, I ve seen that when the motors start spinning quickly, sometimes the power of the motors can make a bot twist or jump and can slightly alter its direction. I offer this only as a suggestion sometimes it s best to slowly increase the power of your motors while testing your bot to determine the best speed. Keep that in mind when you begin testing your StringBot. Well, we re almost done with the Design Journal page. It s time to take everything you ve collected Robot Description, Task List, Limitations/Constraints, and Mindstorm information and start with some rough sketches to help you when you begin construction.
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