Summary of Contents for Robodyssey Roach
- Page 1 Robodyssey Roach Assembly Instructions Version 1.03 - Modified 7/31/2002 Robodyssey Systems, LLC. Phone/Fax: 609-585-8535 20 Quimby Avenue Web: www.robodyssey.com Trenton, New Jersey 08610 Email: info@robodyssey.com...
- Page 2 Copyright 2002 Robodyssey Systems, LLC. All rights reserved. Basic Express and BasicX are trademarks of NetMedia, Inc. Basic Stamp is a trademark of Parallax, Inc.
- Page 3 1 Introduction The Robodyssey Roach is a robust and versatile hexapod robotics platform developed for educa- tors, hobbyists, and professionals. Originally developed for the classroom, the all-aluminum construci- ton provides a lightweight yet durable robot that will last for years to come.
- Page 4 2 Roach Kit Contents Roach Body Small Alan Wrench Primary Legs (4) Large Alan Wrench Center Legs (2) Small Parts Bag (Bushings & Spacers) Servos (3) Small Parts Bag (Screws, Washers, Nuts) Roach Head Small Parts Bag (Ball Pins, Sockets, Connectors)
- Page 5 Small Parts Bag # 10 Short Leg Screws (4) Long Leg Screws (2) Long Mounting Screws (2) Servo Mounting Screws (12) Short Mounting Screws (8) Small Parts Bag # 11 Linkage Sockets (12) Ball Pins (12) Standoffs (2) Small Washers (3-6) Small Nuts (12) The following components may have come with your kit, depending on your ordered configuration: Sharp GP2D12 IR Sensors...
- Page 6 3 Assembly Instructions Assembly of the Roach kit will take you approximately 75 minutes. Be sure to lookup the proper part for each assembly step, indicated by the number next to the part name which corresponds to the pictures in “Roach Kit Contents.”...
- Page 7 Figures 5 & 6, such that the ball pin and white spacer are going to attach to the back of the Roach body. The back of the Roach body is the end with the rectangular openings cutout for servos.
-
Page 8: Servo Installation
Pay attention to the orientation of the servos. Figure 9 Figure 10 Figure 11 Attach a second servo to the other side of Roach in the same fashion, as seen in Figure 12. Figure 12 After attaching the two servos, your Roach should like Figure 13. - Page 9 For the center servo, you need to remove the small notch- es shown in Figure 14 from the plastic servo case. This is easily accomplished with a small hobby knife. Cut out the two notches, one on each side, of the center servo with the technique shown in Figures 15 &16.
- Page 10 Figure 18 Figure 19 Place the center servo into position as shown in Figures 18 & 19. Now that the notches are removed from the plastic case, the servo should fit flush against the body. Use the Small Allen Wrench (7) and two of the Servo Mounting Screws (20) to attach one side of the servo to the body, as shown in Figure 20.
- Page 11 Use the Long Leg Screws (18) to attach the rear legs to the Roach body as shown in Figures 23, 24 and 25. The rear legs attach to the same end of the body as the two servos. Take care not to over-tighten the leg screws.
-
Page 12: Linkage Installation
Figure 28 If any of the Primary Legs are too tight against the Roach body and overly restrict movement, you can use some of the small, thin washers between the body and bushing to increase the spacing, as shown in Figure 29. - Page 13 Socket (22) onto one end of the Linkage 3/4 of the way in. Attach this to one of the center leg ball pins. With the Roach resting on a flat surface, check how closely the other end of the linkage lines up with the ball pin on the second center leg.
- Page 14 Figure 41, and for the Basic Stamp, use the code shown in Figure 42. The code may also be found on the Robodyssey Development Software CD, or under the “Resources” section of http: Figure 40 //www.robodyssey.com.
- Page 15 Const RightServo As Byte = 6 Const CenterServo As Byte = 7 ‘On the Robodyssey Advanced Motherboard, these pins are labeled 0, 1, 2, ‘but are really pins 5, 6, and 7 on the 24 pin microcontroller. Const LeftServoMid As Single = 0.0015 Const RightServoMid As Single = 0.0015...
- Page 16 0 right_servo con 1 center_servo con 2 ‘Refers to pins 0, 1, and 2 on the Robodyssey Advanced Motherboard. Really pins ‘5, 6 and 7 on the Basic Stamp 2. pulses con 17 ‘number of pulses for each servo cmd...
- Page 17 Now that all three servos have been centered, we can add the servo arms. On the right side of the Roach, at- tach one of the servo arm assemblies as shown in Figure 37, and attach the servo arm to the servo as vertical as possilble without rotating the servo out of it’s centered...
- Page 18 Link- age Sockets (22). The easiest way to test the sizing is to sit the Roach on a desktop, and snap the linkage into position to see how it fits. The center servo linkage, once attached, should resemble Figure 49.
- Page 19 Use the Small Allen Wrench (7) and two Short Mount- ing Screws (21) to attach the head to the Roach body as shown in Figures 51 & 52. Figure 51 Figure 52 From the bottom, your Roach should now resemble Fig- ure 53.
- Page 20 Figure 55 Attach the piece of velcro to the Roach body as shown in Figure 56 to create the battery strap. Attach the Battery Case (6) to the Roach, and connect it to the Motherboard.
Need help?
Do you have a question about the Roach and is the answer not in the manual?
Questions and answers