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draw the robot to it as its batteries ran down The robot would enter the hutch, and its battery would automatically be recharged Once the battery recharged, the robot would leave the hutch to search for new light sources In another experiment he fixed small lamps on each tortoise shell The robots developed an interaction that to an observer appears as a kind of social behav ior The robots danced around each other, at times attracted and then repelled, reminding him of a robotic mating ritual or territorial marking behavior Building a Walter Tortoise We can imitate most functions in Walter s famous tortoise My adaptation of Walter s tortoise is shown in Fig 81 To fabricate the chassis, we need to do a little metalwork Working metal is made a lot easier with a few tools such as a center punch, hand shears, nibbler, drill, vise, and hammer (see Fig 82) Center punch: Used to make a dimple in sheet metal to facilitate drilling Without the dimple, the drill is more likely to walk off the drill mark Hold the tip of the center punch in the center of the hole you need to drill Hit the center punch sharply with a hammer to make a small dimple in the material Shears: Used to cut sheet metal I would advise purchasing 8 to 14 in metal shears Use as a scissors to cut metal Nibbler: Used to remove (nibble) small bits of metal from sheet and nibble cutouts and square holes in light gauge sheet metal Note RadioShack sells an inexpensive nibbler
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Figure 81 Adaptation of Walter s turtle robot
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Eight
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Figure 82 A few sheet metal tools
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Vise: Used to hold metal for drilling and bending Drill and hammer Self explanatory A well stocked hardware store will carry the simple metalworking tools out lined Most will also carry the light gauge sheet metal and aluminum bar materials needed to make the chassis I built the chassis out of (1 8 1 2 in) aluminum rectangle bar and 22 to 24 gauge stainless steel sheet metal Stainless steel is harder to work with than cold rolled steel (CRS) And CRS is harder to work with than sheet aluminum If I were to do this project over, I would use aluminum extensively because it is easier to work with than CRS or stainless steel Drive and Steering Motors The robot uses servomotors for both the drive and steering The drive servo motor is a HiTec HS 425BB 51 oz torque servomotor (see Fig 83) The HS 425BB servomotor is modified for continuous rotation For steering the robot I used a less expensive HiTec HS 322 42 oz torque servomotor (unmodified) Before we go into the robot fabrication, we must first modify the HS 425BB servomotor for continuous rotation
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Figure 83 HS 425 servomotor
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Modifying the HS 425BB Servomotor I chose the HS 425BB servomotor because I found it to be the easiest servo motor to modify for continuous rotation To create a continuous rotation ser vomotor, it is necessary to mechanically disconnect the internal potentiometer from the output gear First remove the four back screws that hold the servomotor together (see Fig 8 4) Keep the servomotor horn attached to the front of the servomotor Once the screws are removed, gently pull off the front cover of the servomotor The output gear will stay attached to the front cover, separating from the shaft of the potentiometer left in the servomotor s case (see Fig 85) Sometimes the idler gear will fall out Don t panic; it s easy enough to put back in position when you reassemble the servomotor Next remove the plastic clip from the servomotor shaft (see Fig 86) With the plastic clip removed, the shaft of the potentiometer will no longer follow the rotation of the output gear Align the potentiometer shaft so that the flat sides of the shaft are parallel to the long sides of the servomotor case (see Fig 87) Take off the front cover of the servomotor, and remove the center screw hold ing the servomotor horn and output gear (see Fig 88) The output gear is
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