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VOL. 16 NO. 02

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PAGE 40

PAGE 07

The Combat Zone


SPARC GETTING STARTED GUIDE
16
18
Before You Build Your First Bot

21
Component Selection

25
Weapon Systems

26
Custom Fabrication

29
Packing for an Event
What to Expect at an Event

Departments 14 Bots in Brief


06 Mind/Iron 13
64
Showcase

65
Microcontrollers — RoboLinks • There’s Something Fishy about You

13 Events Calendar 66
They’ve Finally Made it • Does this register?
to Cracker Jacks Advertiser’s Index • Can you see me now?
SERVO Webstore • Flame on, HUBO!

SERVO Magazine (ISSN 1546-0592/CDN Pub Agree#40702530) is published monthly for $26.95 per year by T & L Publications, Inc., 430 Princeland Court, Corona, CA 92879.
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4 SERVO 02.2018
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In This Issue ...


07 Evaluating Your
Drone Needs
The Multi-Rotor Hobbyist
by John Leeman
It’s often difficult to decide what to
buy nowadays.There are so many
multi-rotor products for every
conceivable need that it’s hard to
know if we should buy a certain
model of aircraft, build our own from
scratch, or if we should own a few
different models for different
purposes. To help with this, we’re
going to give you the ultimate guide

31 The Making of
to buying, building, and accessorizing
your drone.

Andros
PAGE 58
by Mitch Anderson

53 Ultrasonic Radar Refresher


I wanted to put my skills to work for something useful. I
decided to design a police/military robot. I knew that they

36 Avoiding Obstacles while


are very expensive, and I thought I could do a prototype
that would be more affordable. Here’s how it went.

Following a Line with the


by Dan Harres

Scribbler 3
Robots commonly performing obstacle detection rely on

58 Robots in Our Lives


active sensing. This tutorial will go over some fundamentals
of locating stuff with ultrasonic radar.

by John Blankenship
Many people know that Parallax’s Scribbler 3 robot can Then & Now: Advances in robotics from the past up
draw pictures with precise movements because of its wheel through today.
encoders. However, the Scribbler’s IR and line sensors along by Tom Carroll

40 The STEAM Maker Festival


with access to a hacker port provide capabilities that make
it a contender for more mainstream robotic projects. For those of us who don’t yet own a robot for our house, it
certainly is at the top of our wish list; either as one that we
build from scratch or buy from a retailer. So, are the home
robots on today's market truly what we've always
Contributed by student writers envisioned as a personal companion robot, or are we still
playing catch-up to Rosie the Robot?
This particular event is a collaborative venue for students,
educators, and professionals within the San Diego, CA
community and industry to demonstrate
programs, projects, practices, and resources that
enrich STEAM education. Read reports from five

46 Beginner’s Guide to
students who give their impressions of the
Festival.

CNC Routers PAGE 31


by Roger Secura
If you’ve been mulling over the idea of building
a CNC router, I should warn you the learning
curve is quite steep. This article will help you
flatten out part of that learning curve by
covering the basic hardware and software
requirements for building a CNC router.

SERVO 02.2018 5
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ERVO
FOR THE

Mind / Iron
by Bryan Bergeron, Editor ª
ROBOT
INNOVATOR

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— that is, they’re disposable. Take the the box containing your potentially CONTRIBUTING EDITORS
popular Arduino, Raspberry Pi (strictly new LCD TV was subjected to a 9G Tom Carroll Kevin Berry
R. Steven Rainwater John Leeman
speaking, a microprocessor board) drop during delivery. That’s all data John Blankenship Roger Secura
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NodeMCU. They’re all available for few cents for, right? Mike Jeffries Eric Davis
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Aside from the issues of whether query your pants to determine if WEBSTORE MARKETING
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and going with it without constantly everyone else in the office wears a ADMINISTRATIVE STAFF
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For example, lately, I’ve been I’ve been trying to devise a way Copyright 2018 by
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Evaluating Your Drone Needs


By John Leeman

It’s often difficult to decide what to buy nowadays. There are so many products for every
conceivable need that are just a second day air shipment away from being pressed into service.
In the multi-rotor space, it’s hard to know if we should buy a certain model of aircraft, build our
own from scratch, or if we should own a few different models for different purposes. After the
purchase or build, it’s hard to know what you’ll need to keep your drone happy and healthy.
This month, we’re going to give you the ultimate guide to buying, building, and accessorizing
your drone.

Evaluate Your Needs


The first step in buying a drone starts with a frank
conversation with yourself. Before you go and look at any
of the displays or read online reviews for hours, you need
to know exactly what you’re looking for. What aspect of
this hobby interests you? What kind of piloting skills do you
have or want to develop? What’s a realistic budget?
There are four basic types of drones in my mind:

1) Photo/video
2) Beginner/toy
3) Experimental
4) Racing/acrobatic

For someone wanting to get into the hobby to get


beautiful and stunning video from high above, the
photo/video category is what you’ll be looking for. These Figure 1: The Cheerson CX-10 is a blast to fly around and is an
inexpensive way to have a lot of fun, but it is far from a
are often larger airframes to produce more stable video and serious hobbyist’s interests.
accommodate larger motors/propellers for a higher lifting
capacity as you upgrade to bulkier cameras. going to advanced systems later easy and a treat.
The control loops for these drones are often tuned for While the CX-10 is really meant only for indoor flying, a
high stability and slower response times for smoother good starting point for the outdoors might be the Syma
movements that won’t jar viewer’s stomachs. You’ll also X5SW-V3 (Figure 3; http://amzn.to/2kRmRSF) or similar.
often notice that these airframes stand higher off the These pack a lot of punch for under $50, with a Wi-Fi
ground to allow room for the camera/gimbal assembly to camera and basic stability control. I started my multi-rotor
hang below. hobby with one of these models and got many hours of
The beginner/toy category encompasses the lowest fun from it.
cost and most basic drones on the market. These
range from the $19 Cheerson CX-10 (Figure 1;
http://amzn.to/2kgEJlM) which we’ve hacked
before in this column, to the few hundred dollar
semi-intelligent models like the Parrot BeeBop
(Figure 2; http://amzn.to/2nObVpV).
The lowest end toy drones have little in the way
of automatic stability, no GPS, and often no camera.
They use a proprietary remote and are really an
advanced toy to play with. Not for the serious
hobbyist, but fun for some backyard time and for
Figure 2: The Parrot BeeBop (and newer model 2) are on the high end of
those brand new to flying. the toy spectrum as they have live camera streams, basic
Learning how to fly on a no-frills drone makes programmability, and GPS functionality. (Image courtesy of amazon.com.)

SERVO 02.2018 7
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To post comments on this article and find any associated files


and/or downloads, go to www.servomagazine.com/index.php/magazine/issue/2018/02.

more work to get flying and keep them there, you do


learn a lot about the fundamentals. It’s also generally
much easier to try different motors, flight controllers,
or other gear.
Instead of everything being kept in a nice injection
molded housing, there are frame members that you
can drill into and more easily mount your own gear.
Great power can be accompanied by great headache
or epic crashes following a bad solder joint. If you want
a fully customizable experience and have the time, this
is a fun route.
The final category is the thrill-seeking bunch.
Acrobatic and racing drones are generally small in size
and phenomenally over-powered compared to any
other category. These drones will shoot straight up at
an alarming rate, scream by at traditional car-like
speeds, and send video back to their pilots wearing
FPV (First Person View) goggles (Figure 4).
While there are some ready-to-fly (RTF) models out
there, many racers tend to straddle the experimental
Figure 3: For those looking to dip their toes into flying a quad, the category, upgrading their airframes to carbon-fiber,
Syma X5SW-V3 is a great starting place and economical at under $50. adding faster motors, more aggressive propellers, or
(Image courtesy of amazon.com.)
better cameras. Personally, I’ve never been that
interested in drone racing, but it has become a popular
Many readers of SERVO will likely be drawn to the sport with TV placement on major networks and
experimental category. These are multi-rotors that come as competitions around the country. If you’re looking for a
kits or plans. Often, you’ll need to assemble, program, or competitive real life video game-like experience, these hot
otherwise tinker to get these off the ground. While they are rods might be for you.

Build or Buy?
One of the next questions you’ll have to grapple with is
whether to build or buy your multi-rotor. The answer is a
complicated optimization of time, money, technical skills,
tooling, and desire.
First off, is there a commercially available product that
will do what you want? If there is, it’s doubtful that you’ll
be able to do it from scratch for a similar price and with as

Figure 5: The DJI Phantoms are an incredibly feature-rich line of


Figure 4: FPV flying is common amongst the racing products at an intermediate budget that will keep you busy for many
sport, but can be fun for the general hobby flyer as well. weekends of exploration. (Image courtesy of amazon.com.)

8 SERVO 02.2018
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The Multi-Rotor Hobbyist

elegant an interface. For example, do you want or need to be able


if you want a versatile quad with to stay in the air? If you’re racing,
good video capability but aren’t it’s probably not as long as
trying to make a major motion someone wanting to fly a grid
picture, and you don’t plan on collecting images for
hacking extra functionality onto photogrammetric reconstruction.
the flight controller, the DJI A good time to aim for is 15-20
Phantom line (Figure 5) is hard to minutes. There are the normal
beat with models ranging from tradeoffs of weight/lift and
$500-$800. battery size to consider if you are
If you don’t want to be building your own.
locked into the camera and Automated flight modes and
controllers on commercial drones, the features of the flight
you’ll be giving up those nice controller are next on the list. If
control apps for the iPad, and you’re purely wanting something
there likely won’t be a customer to fly as a model aircraft hobby,
support line. You are customer then you’ll probably be fine with a
support! Figure 6: Phone and tablet integration is a nice feature, basic flight controller where you
but one that can go out of date if the manufacturer
On the other hand, if you stops supporting the particular hardware you have. It have full control of the vehicle at
want an exceptionally large quad does open up the opportunity for third-party services all times.
such as Drone Deploy and others. (Image courtesy of
or want one to do a specific task, dronedeploy.com.) If your goal is data collection
building may be the right choice. or if you’re a new pilot that is
It could also be the right choice if you’re looking to learn more interested in video or other aspects of the hobby,
some new skills, need an excuse to invest in more tools, or you’ll probably want a controller that does the flying for
need a project to keep you busy through the winter. you with the pilot simply inputting
Building lets you research each component, learn the up/down/forward/backward/yaw commands. If you’re not
details, and choose what suits your needs best. sure where you are on that spectrum, it’s worthwhile to try
A good place to start is the past articles of this column flying in a simulator and if you can, get hands-on with a
where we cover the basics of motors, speed controllers, fully automated drone.
propellers, and other essential parts. Building is a lot of fun I’ve always had completely manual quads, which wasn’t
and certainly the most versatile option, but isn’t for a problem coming from a model airplane background. The
everyone or for the hobbyist who wants a first time I got my hands on a Phantom, it was magical.
flying/photography/racing hobby but not a Suddenly, I could enjoy the scenery I was flying over, try to
mechanical/electronics one. frame shots, and other fun tasks instead of focusing on
On the market, you’ll find multi-rotors that are ready to staying in the air. Again, it’s a matter of what you’re
fly out of the box at many levels, as well as some kits that looking to get out of the hobby.
are almost ready to fly (ARF). There are also some drones Return home is a highly-recommended feature, but one
that are bind-n-fly (BNF) where you provide the RC only found on at least semi-intelligent vehicles. If you lose
transmitter, pair it with the receiver in the quad, then fly your quad, can’t figure out the orientation, or if the battery
away. For hobbyists with their own gear that just want to gets low, the drone will automatically return to the takeoff
add another aircraft to their collection, this is an attractive location and land. There have been a number of times I
option. would have really loved to have this feature on different
quads I’ve owned.
Features to Consider A related feature is integration with your tablet or
phone (Figure 6). I don’t know of any after-market flight
Now that you know what kind of multi-rotor you’re in controllers with app integration. While it’s a bit of a risk
the market for, it’s time to make a list of features you want. that the app will get outdated in several years, the
If you’re planning on buying a commercial product, you’ll likelihood of a drone that is frequently used for years
want to compare this list to the features listed for each surviving unscathed is low. (Remember, never take off with
drone you are considering. If you’re building, it provides a more money that you are ready to lose!)
good set of constraints that you can use to help calculate Many of the homebuilt solutions will have different
the required battery size, motors, propellers, etc. We’ll equipment for receiving and viewing live video, controlling
cover a few of the common features that you’re likely to be the quad, etc. Commercial solutions tend to revolve around
considering. mobile devices as places to show video, telemetry, and
The first thing to think about is flight time. How long provide context aware control buttons. The fancy solution is

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Figure 7: Smart chargers are a great way to keep your Figure 8: Battery safes are a must as they keep you and your
batteries healthy and happy, and are generally safer and property at a much lower risk should a battery fail
more reliable that the less expensive chargers. (Image catastrophically. (Image courtesy of amazon.com.)
courtesy of amazon.com.)

nice, but you are limited to the functionality implemented out the drone and going flying a lot more fun and
by the manufacturer. Homebuilt solutions often revolve rewarding.
around open source projects that you can modify to suit With enough batteries, you could probably keep
your needs. rotating them all afternoon, but I find that after a couple
The final common consideration is the camera. Do you hours of flying, my brain needs a recharge as well and it’s
want or need a camera? Are you just going to use the time for a cup of coffee. I also tend to buy pretty high
camera to fly the drone in a first-person way, or do you capacity batteries to maximize the flight time on each one
want to record 4K video to show off where you went on — especially since I like doing longer data collection type
that weekend hike? flights.
Commercial solutions with integrated cameras are very To go with your batteries, you’ll want a decent charger.
nice as the camera and flight controller can coordinate to Exactly which charger you’ll want depends on how many
give you incredibly stable video that is “vehicle aware” so batteries of what size you want to charge and how fast.
you aren’t showing your landing gear in 4K. These can be There are inexpensive chargers for around $20 (or included
harder or impossible to upgrade, though, as newer with your kit) that will charge a single battery slowly, often
technology becomes less expensive. taking four hours or more. They also are not that smart
Adding your own camera is a bit more work and may generally.
involve some more hardware/software for the control, but Getting a smart charger (Figure 7) that can help run
it can be exchanged for another bit of gear or upgraded maintenance cycles to keep your batteries healthy, report
much more easily. If you’re serious about aerial on bad cells, and more is worth the investment. It’ll reduce
photography, it’s likely that you’ll want to experiment with your frustration when finding a bad battery on the flight
different gear for different scenarios and to keep up with line, and keep you from running or charging batteries with
the latest and greatest. dangerous failures.
The final battery related item is a good battery safe
Accessories (Figure 8). These fire-resistant bags help reduce the risk of
a major catastrophe if your battery fails when being
Like many other major purchases, the budget should charged or stored. If your battery is not in use, it should be
include a non-trivial amount for accessories. While a basic stored in a fire bag. We’ve all seen the videos of lithium-ion
airframe and radio will get you in the air, you’ll be stranded batteries failing in great clouds of smoke and molten
after the first crash or waiting on batteries to charge after metals. It’s a quick way to lose a lot of property. These are
each flight. I’ll cover a few things that I’d consider inexpensive and will help you sleep at night as you envision
necessities when buying a new vehicle. shorted battery cells starting a bon fire in your basement.
Extra batteries are a must. For your 15 minutes of Getting a field bag to put your drone, transmitter,
flying fun, you’re likely to be faced with a multi-hour batteries, etc., in is also a nice accessory. I’ve hauled
recharging process for the batteries. Having a couple of multiple quads across the country without a protective bag
extra batteries is highly recommended as it’ll make pulling and it was not pleasant!
10 SERVO 02.2018
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The Multi-Rotor Hobbyist

Figure 10: For the serious traveler, Pelican cases are the ultimate in gear
protection. I’ve floated down a river on one of these before while the
equipment inside stayed safe and dry. (Image courtesy of pelican.com.)

of the year is out of the question, have a look at these


simulators. RealFlight 8 even has VR capabilities.
Figure 9: Semi hard-sided backpacks are a great way to
keep your quad safe on the way to and from the field
and in the back of the car. (Image courtesy of amazon.com.)
Crash Kit
While you’re preparing your order, it’s a good idea to
Having a hard-sided or semi hard-sided case is well go ahead and build up a crash kit. There’s a saying that
worth the investment. There are backpack and roller styles there are two kinds of pilots: those that have crashed and
out there offering various degrees of crush protection. For those that will. Everyone will crash at some point due to
the casual hobbyist, the semi-hard sided backpack (Figure the wind, operator error, sun glint, or a variety of other
9) is a great place to start. The more
serious may want to invest in a Pelican
case (Figure 10) that can survive
commercial shipping and airline
baggage handling (but remember the
smallmachine
restrictions on batteries in the cargo
hold of an aircraft when travelling BIGRESULTS
with your drone!).
The final accessory I’ll recommend x Design New Ideas
isn’t really a drone accessory, but one
for the pilot. Look into the various x Prototype Without
model flight simulators out there. the Wait
RealFlight is the most popular and the
one I have, though my copy is
pushing a decade old now. These give x Cut Real Metal
you a real transmitter to use while
flying a virtual airplane, helicopter, or CNC Mill x 120VAC - Plug in
drone model. Starting at: Anywhere
The best part is that the crashes
cost nothing and all the repairs $4950
happen instantly with the push of a
button. If you’ve never flown before
or live in a climate where flying part TORMACH.COM

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reasons we come up with. Building a crash kit doesn’t have nuts, extra screw, Loctite, etc. Generally, these items are
to be prohibitively expensive and can prevent your Saturday not that expensive, plus you will need them eventually
morning flying session from being cut tragically short due (remember how we started this section).
to a minor incident.
Extra propellers are a must. When taking off and
landing, it’s all too easy to accidently dig one side of the
Where to Buy
drone into the ground and bend or break the propellers. Now that you know what you want, what accessories
Replacements are generally not that expensive, and it can you’ll need, and have made sure you’re within your set
be fun to have a few different sizes and pitches in your bag budget, it’s time to place an order ... but from where?
for more stable or more acrobatic flights. Balance these at There are many online marketplaces as well as brick-and-
home before heading to the field. mortar stores that now carry multi-rotor products.
To do some basic maintenance on your drone in the The biggest consideration here is how much support
field, carry a simple tool kit. Pliers, combination wrenches, you want or need. I’ve often found that nothing beats
maybe some sockets, and a file should be a good start. going into your local hobby store with parts in hand and
Having the basics with you makes it easy to quickly recover asking for help. The workers generally can help you put the
from a broken part without a trip back to the shop. pieces together and suggest products as they themselves
Zip ties and string are the basics of all good field kits are hobbyists. If you get help there, it’s only right to buy
(and duct tape too). I use these to strap on instruments to there as well and support the store. (It’s also a great way to
the airframe, patch together a broken landing gear leg, or support local businesses!) Sometimes the prices are a bit
tie that pesky wire out of the way before it gets cut in half. higher than big-box stores or online, but try to get the sales
Pick up the big can of various sized zip ties next time you person at one of those to talk about which battery they like
go into the hardware store. best on their aircraft.
It’s also a good idea to have any easily replaceable Amazon is also an obvious contender here. With Prime
parts on hand. This could be a motor mount, extra prop members getting free second day air shipping and a huge
variety of products and parts to choose from, it’s certainly
an option. If you don’t need support or are looking for the
largest number of reviews, this is a good place to go.
Hobby King is the other big player in the model aircraft
space. Their prices on imported goods are often
outstanding, but sometimes the quality control can be
lacking. The shipping fees are also quite high, so planning
one large order is best here.

Closing Thoughts
So, in the end, it’s really a matter of tradeoffs. What’s
the value of your time to build and program a fully
customizable drone when all you want to do is take
beautiful aerial video? How much time will you spend
working with the constraints of a commercially available
drone to get it to do exactly what you want?
Hopefully, this guide has led you down some useful
paths and you feel confident in making your leap into the
world of multi-rotors.

I’d also like to thank you for reading this column since
it began in May 2016. Sadly, this will be the last
installment. I’ve thoroughly enjoyed learning about this
emerging area of technology and sharing it with you, but
the time has come to move on to other projects.
Keep innovating and experimenting, and as always, fly
safely. SV

12 SERVO 02.2018
Rainwater - Events - Feb 18_Events - Aug 15.qxd 1/3/2018 4:09 PM Page 13

EVENTS
FEBRUARY
2-7 AAAI Mobile Robot Competition
New Orleans, LA
See website for this year’s event information.
www.aaai.org/Conferences/conferences.php

21-25 Apogee
University of Illinois at Urbana-Champaign, IL
Events include I-Strike, Robots at War, Track-o-Mania, and
Student Design Competition.
www.bits-apogee.org

MARCH
1-4 Pragyan
National Institute of Technology, Trichy, India
See website for this year’s event information.
www.pragyan.org

9-10 Greater Philadelphia SeaPerch Challenge


Temple University, Philadelphia, PA
Tethered underwater ROV missions.
www.phillynavalstem.com
Did You Know ...
9-10 Midwestern Robotics Design Competition
University of Illinois at Urbana-Champaign, IL
Preferred
See website for this year’s event information. Subscribers
http://mrdc.ec.illinois.edu
get access to
15-18 Techkriti RoboGames
Indian Institute of Technology, Kanpur, Uttar
all digital
Pradesh, India back issues of
Events include IARC, AIRC, Robowars, and Manoeuvre.
www.techkriti.org
SERVO
17-18 First LEGO League of Central Europe Finals
Aachen, Germany Magazine
Event this year is Hydro-Dynamics.
https://www.first-lego- for free?
league.org/en/fll/tournaments.html Call for details
24 Manitoba Robot Games
TecVoc High School, Winnipeg, Manitoba, Canada
Events include Mini Sumo, Prairie Sumo, Tractor Pull, Line
1-877-
Following, Robo Critter, Super Scramble, and LEGO
NXT/Mindstorms.
525-2539
www.scmb.mb.ca or go to
www.servo
magazine.com
SERVO 02.2018 13
bots
Bots in Brief - Feb 18_Bots in Brief Mar15.qxd 1/3/2018 1:15 PM Page 14

IN BRIEF
THERE’S SOMETHING FISHY
ABOUT YOU
Robots may be getting more realistic, but most of
us can still discern a human from a humanoid. Fish, on
the other hand, seem easier to fool.
Researchers at École Polytechnique Fédérale de
Lausanne (EPFL) in Switzerland have developed an
aquatic robot that can infiltrate schools of zebrafish,
going so far as to influence their activities. By designing
robots to integrate with animal communities, the
roboticists hope to unravel these animals’ behavioral and social structures by learning more about how they communicate.
“We wanted to study how a robotic agent can be inserted in a fish shoal, and, when inserted, how this robotic agent
could learn how the fish interact, communicate, and take decisions,” Frank Bonnet, an EPFL postdoctoral researcher who
worked on the project, told Digital Trends.
“We created a kind of ‘secret agent’ that can infiltrate these
schools of small fish,” Bonnet stated with a smile. Bonnet is a
post-doc researcher at the LSRO (The Laboratoire de Systèmes
Robotiques) and one of the study’s authors. The robot is seven
centimeters long — longer than the fish it’s modeled after, but
with the same shape and proportions. It’s equipped with magnets
that link it to a tiny engine installed under the aquarium to propel
it through the water. The researchers chose zebrafish — or
Danio rerio — for their study because it’s a robust species
whose schools tend to switch direction and move about very
quickly.The robot has two parts: a magnetic fish; and a motor
which is positioned underneath the aquarium and helps propel
the robot through the water.
To infiltrate the school, the EPFL team identified
characteristics that real fish use to distinguish themselves and
designed the robot accordingly. These included physical traits
(such as shape, color, and markings) and behavioral traits
(including acceleration speeds, size of schools, and how the fish
move their tails in transit). Taking the project one step further, the
researchers designed the robot to learn and adapt from the
behavior of the real fish.

DOES THIS REGISTER?


Remember back when you could fly drones without having to pay the
government money first, and when the only thing you had to worry about was a
midair takedown by an anti-drone hit squad made up of highly-trained Dutch eagles?
We’re sad to have to report that we probably won’t be seeing compelling videos
of eagles handling rogue drones anymore (https://spectrum.ieee.org/
automaton/robotics/drones/dutch-police-training-eagles-to-take-down-
drones), and also that the United States government has flexed its muscles, and
mandatory drone registration is now back on.
This means that the drone that you didn’t have to register and then had to
register and then didn’t have to register, you now have to register.

14 SERVO 02.2018
bots
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IN BRIEF
CAN YOU SEE
ME NOW?
Most telepresence
robots are designed for
business use. They’re
expensive, but the
argument is that they
work significantly better
than a phone call, and they
pay for themselves since
you don’t have to spend so
much time and money
traveling instead.
OhmniLabs, a Silicon
Valley robotics startup
with CMU roots, wants to
make telepresence robots easy and affordable enough that people start using them to stay
connected with their families.
In order for that to work, their telepresence robot called Ohmni is designed to be as
independent as possible. You can send it to someone who isn’t comfortable at all with tech, and
they can take it out of the box, turn it on, and it’ll just work. It’s potentially ideal for family
members who you don’t live close to, or elderly family members who you like to talk to (and
check up on) regularly.

FLAME ON, HUBO!


One of the traditions of the Olympics is the torch relay, in which people carry the flame from
Olympia, Greece to the location of the Games. In 2018, the Olympic Games will be held in
Pyeongchang, South Korea, and the torch relay is currently underway.
HUBO, the humanoid robot, carried the flame for part of its journey.
HUBO only covered 150 meters (about 500 feet) with the torch, but its presence was largely
symbolic. As part of its torch duties, HUBO performed
an example of a disaster rescue operation in which it
cut a hole in a brick wall (while still holding the torch).
It was intended as a "display of innovation and
creativity," according to PyeongChang 2018 Organizing
Committee President LEE Hee-beom.
Okay, maybe it's a little silly — especially
considering it was largely a stunt — but it doesn't
change the fact that HUBO is Korea's first humanoid
robot and what it accomplished was pretty darn cool.
It has two articulated hands and can walk 65 steps
per minute. It's being designed as a first-responder
robot (hence, the display of its abilities). It will be
interesting to see how it develops from here, but for
now, we know that HUBO is quite capable of
participating in stunt demonstrations at least.

SERVO 02.2018 15
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SPARC Getting Started Guide


Standardized Procedures for the Advancement of Robotic Combat
● by Mike Jeffries

Before You Build Your First Bot


aybe you’ve seen you should take is to figure out where • https://www.robotcombat

M BattleBots™, been to
RoboGames or other local
events, seen video on the Internet, or
you’ll be competing. For those that
have been to an event, you probably
have an idea where to look.
events.com/
• http://robotbattles.com

read event reports right here in SERVO If you’ve never been to an event, In the UK, the best source for
Magazine. Whatever the source, however, you may not even know upcoming event information is
you’ve decided that you want to build where to start. In general, event www.fightingrobots.co.uk.
a bot. At this point, you may be information is readily available online In Australia, the best source for
asking yourself a very important through a range of sources. upcoming event information is
question: Where do I start? In the US, the following URLs are www.robowars.org/forum.
your best bet when looking for an Beyond being a source for event
Well, this guide will help you find event: information, the vast majority of the
your way inside the arena. robot combat community online can
• http://sparc.tools/ be found spread between the SPARC
Finding an Event • www.buildersdb.com Forum, the Facebook Robotics
• https://www.facebook.com/ Community, FightingRobots.co.uk
One of — if not the — first step groups/RobotCombat/ (The Fighting Robots Association), and
Robowars.org
(RoboWars
Featured Australia). These
groups will be a

This Month: great resource both


for getting questions
answered and
SPARC GETTING seeing how other
people have
STARTED GUIDE answered many of
the design questions
you’re trying to
16 Before You Build address.
Once you’ve
Your First Bot There’s a big difference found an event you
between fighting in a fully want to attend, the
18 Component enclosed arena … next step is to read
Selection through the rules.
... and fighting on a stage. While many events
21 Weapon Systems have the same rules
across all the weight
25 Custom classes, some events
will have different
Fabrication rules for different
26 Packing for an weight classes which
may influence which
Event class you decide to
start with.
29 What to Expect at While not
necessary, at this
an Event point it would be a

16 SERVO 02.2018
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To post comments on this article and find any associated files and/or
downloads, go to www.servomagazine.com/index.php/magazine/issue/2018/02.
COMBAT ZONE

good idea to attempt to find bot, there may be a large


video from previous years of number of one-off parts that
the event you’re planning to will be difficult to replace, and
attend. there is the potential for worn
This will give you a good or damaged components that
idea of the sort of machines are not initially obvious.
you’ll be fighting, and the If you’re considering
unique quirks of the buying a used robot, it would
environment you’ll be fighting be wise to ask an experienced
in. builder whether or not it
would be a good fit for your
To Kit, or Not to needs. In both cases, the
biggest thing you miss out on
Kit by buying a completed robot
You’ve now got enough is that you won’t learn nearly
information to start figuring as much in the process of
Sometimes robots you design and build yourself
out what you want your first work well. getting a bot into the arena.
bot to be. The next decision to Taking time once you
be made is whether have the robot in
you want to start your possession to
with a kit, design and go through all of
build it yourself, or the systems and
buy a ready-to-run familiarize yourself
bot. with the
From a learning components and
standpoint, designing layout will help
and building your offset some of this,
own machine is likely and make it much
Sometimes they don’t.
the best option. Building your own easier to diagnose and repair any
machine is also the most difficult problems that occur during an event.
choice — especially if you have limited shipping. You may also find robots for Buying an unassembled kit is
tool access. If you go this route, sale on any of the robotics community effectively the intermediate option.
looking through past build reports in sites or from several of the advertisers While you’ll learn more building one
SERVO and online will be a great in this magazine. yourself, you will still learn a great
means of learning from the mistakes The pros of buying a ready-to-run deal putting the kit together. Plus, you
of others, and possibly picking up robot are pretty obvious: You know it know that if you do it right, once it’s
tricks to get better results out of the works, you can likely find
tools you have. video of the bot (or the
A good option would be getting same kit in the case of
actively involved in the online kits) in action which will
communities and if one is available, often show the strengths
go to the local robot club to talk with and weaknesses of the
other builders about what you want design before you buy
to do. The best thing you can do anything; and it’s a fairly
during this process is ask questions quick way to go from
and really listen. Every builder was nothing to a working
new once, and most are happy to robot.
offer advice when asked. In the case of a pre- Hypnus is a 12 lb
The easy option is to buy a robot built kit, you’ll be paying combat robot
that’s ready to run. Some kit sites like a good deal more than if that was recently
sold on eBay.
Kitbots.com offer the option of you had built the same
having the kit fully assembled prior to kit yourself. With a used

SERVO 02.2018 17
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together you’ll have a machine that For large kits, there aren’t as
you know will work. many options;
If you’re looking for a kit in www.gearseds.com offers kits
the 150g-3 lb range, there are a focused on the 15 lb educational
large number of options to choose class and www.battlekits.com
from. Kit vendors focused on this sells kits focused on the 60-220 lb
weight range include but are not classes.
limited to:
In the end, whatever method
www.fingertechrobotics.com gets you to an event and
www.kitbots.com competing is the best approach.
www.botbitz.com There’s no substitute for the
www.shockbots.co.uk experience you’ll gain by actually
https://www.botkits.com/ participating an event. SV
Klazo is a lightly modified 1 lb robot kit from
Kitbots.com.

Component Selection
lot goes into a bot. Starting Kill Switches proportional speed control, an

A out, it can be overwhelming


trying to figure out what you
need to get to make a working robot,
Commercial Switches
Being able to safely turn your
electronic speed controller (ESC) is
generally the most reliable option.
There are a wide range of ESCs
where to go to get the parts you robot on and off is another available for robots ranging from 150
need, or how to put it all together. requirement to compete. The Whyachi g to 220 lb. The key is to find a
This section of the SPARC Getting MS-XX series and the Hella switch are controller that is rated for your desired
Started Guide is meant to address all two good commercial options for voltage or higher, and can handle the
those issues. large bots. For smaller robots, current draw of the motors.
FingerTech Robotics has a power The torque/AH calculator at
Radio System switch that works very well in the 150 www.killerbotics.com/kbtools/Tent
g-12 lb class that has been used in acleTools has many common drive
When selecting a radio system, bots up to 120 lbs. BotBitz also sells motors and can be used to estimate
the first thing you must do is confirm an extremely small switch designed stall and wheel spin amperage.
that the system will failsafe on all used for the 150 g-1 lb classes. For motors that only need on/off
channels. Failsafe means that if the functionality, contactors/DC solenoids
signal to the receiver is lost, all drive Homemade can be used in conjunction with RC
and weapon systems will return to a In addition to commercial switches for more power handling
non-active state. Any system incapable switches, there are some styles of capabilities at the cost of precise
of this function will not be allowed to power switches that can be made at control.
pass safety. home. The most common involves
The 2.4 GHz radio systems are using a plug to add a removable loop Motor Selection
increasingly common and often of wire between the battery and
required at events. There are a wide motor controllers. There are two main types of
range of products available that meet Using this method means you will motors available: brushed and
the failsafe requirements and 2.4 GHz physically remove part of the circuit to brushless. Brushed DC motors have
suggestion. power-off the robot. been used in robot combat since the
If you’re not sure that a system beginning. They’re a bit bulky, spin at
will failsafe properly, ask the merchant Motor Control relatively low RPM, and have great
or manufacturer. The Robot starting torque making them ideal for
Marketplace often will list if a system There are several methods drive systems.
or component will failsafe properly on commonly used to control electric Brushless motors have recently
the product description. motors in robot combat. For full become the go-to option for high

18 SERVO 02.2018
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COMBAT ZONE
powered weapon (and occasionally driven wheels will likely have all points Common Construction
drive) systems. of contact with the ground powered
Brushless motors tend to have a with the exception of hinged
Materials
higher power-to-weight ratio and components that are meant to stay in Metals
much higher RPM, but often suffer constant contact with the ground. While there are many different
from “cogging” when geared with types of commercially available metals
low reduction and heavy attachments. Chassis Construction on the market, there are only a few
Cogging means instead of smoothly that are well-suited to robot combat.
accelerating, the motor sputters and Chassis construction generally The four primary metal types used in
often stops. takes one of a few different routes. robot combat are steel, titanium,
The simplified version of why this The first is an internal frame with aluminum, and magnesium. For each
happens is the large mass relative to armor attached to it; the second uses type of metal, there is an alloy or set
the torque of the motor results in the the frame members as armor, often of alloys that find common usage
controller and motor getting out of with connected plates of material since the mechanical properties of the
sync preventing proper acceleration. In forming the structure; and the third is alloy are a better match for combat
weapons, this can result in slow or no unibody construction, where the use.
spin-up, and in drive systems it can majority of the frame and armor are • Steel: Steel comes in a huge
result in erratic low speed behavior. cut from a single piece of material. range of alloys and can have its
Brushless drive systems are less Building a chassis using an properties dramatically altered by heat
common as there are not many internal frame with armor panels treating and tempering. That being
controllers available that give quick mounted to it tends to be the heaviest said, steel will likely be the toughest
proportional forward and reverse of the three options, though often will armor option for a given shape.
control, and the high RPMs can make be the most durable and easiest to However, it will also be the heaviest
gearing systems more difficult than repair as the portions of the armor option.
with brushed motors. most likely to be damaged are easier Steel is frequently used for
However, some teams have found to remove from the rest of the robot. weapons since high grade steels can
success pairing brushless motors with These frames typically involve a be heat treated to achieve a nice
gearboxes designed for brushed welded frame with armor bolted to it. balance of stiffness and strength
motors. Frame as armor construction is while not being so brittle that they
generally in the middle when looking will readily shatter. Common steels in
Common Drive at strength vs. weight. By reducing
the frame and armor into a single
robot combat are 4130, 4140, 1095,
and S7. There are many other steel
Systems part, you can reduce the size of the options out there, and often you can
For a first build, wheels with tank machine and use relatively thick find a specific alloy that is well-suited
style steering are the simplest option. materials in areas likely to come into to your application.
Tracks and walking systems can be contact with weapons. Frames like this • Titanium: Titanium is a fantastic
built, but on your first build, getting are usually bolted together. material if you’ve got the budget and
something working reliably should be Unibody construction will typically the necessary tools. Grade 5 titanium
the focus. The two main wheeled be the strongest per pound. However, provides a great balance of light
options are two-wheel drive and it’s also the most complicated to weight and strength at the cost of
anything greater than that — usually in manufacture, as all features will need being difficult to work with and
multiples of two. to be added to a single piece of expensive.
Two-wheel drive robots will have material. • Aluminum: Aluminum is a fairly
two powered points of contact with This often involves repositioning light metal that’s easy to work with
the ground, and short of a balancing the workpiece many times during the and isn’t too expensive. There are
robot, this means at least one non- construction process. many grades of aluminum available,
powered point of contact will exist. Care must be taken to avoid but 6061, 2024, and 7075 are the
This can either be a piece of misalignment of holes as the most common in robot combat
chassis/armor dragging on the workpiece is moved. The good applications.
ground, a skid, or a caster. strength-to-weight ratio — the best of • Magnesium: Magnesium is the
The best option will depend on the three mentioned — is due to the lightest metal listed here. Magnesium
the exact design of the robot and reduced need for fasteners to hold the is fairly easy to machine, but heat
what arena it will compete in. chassis together, and the lack of areas control is a must as it burns
Robots with greater than two only held on by hardware. energetically if it’s allowed to get hot

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enough. AZ31B magnesium has a used as skids or as bushing material. LiPo batteries also tend to swell
higher tensile strength than • Acetal Delrin: Delrin — like nylon under heavy loading, so using padded
aluminum, which makes it a great — is a fairly high strength plastic. It elements in your battery mounts can
material for armor if you can afford holds its shape well and is fairly easy help minimize the risk of damage
the cost which rivals titanium. to work with. Delrin is also relatively when this swelling occurs.
heat resistant which means you’ll Lithium Ferrite
Plastics often see it used in applications where Lithium Ferrite (LiFe) batteries are
There is a wide range of plastic heat is expected. A few common uses another common battery type. This
materials available, and an entire for Delrin are wheel hubs and the chemistry does not provide the same
guide could be written on them. The bodies of power switches. energy density of LiPo batteries.
most common plastics in robot However, it’s still a substantial
combat are polycarbonate, nylon, Composites improvement over NiMh, NiCad, and
UHMW polyethylene, and Delrin. SLA batteries. LiFe batteries are also
• Polycarbonate: This plastic is Composite materials come in two less reactive to damage which means
also known as Lexan and is the forms: pre-made parts and raw fabric. (unlike LiPo batteries) there are no
material used for arena walls. It once The pre-made parts are often used as major events that restrict the use of
was a very common construction armor panels when weight is a serious LiFe batteries.
material due to its impact resistance, concern. When used properly, they
however, it’s prone to fracturing at can be as good as some metals. Their NiMh/NiCad
hole locations and has become less limitations must be kept in mind, Nickel Metal Hydride and Nickel
common in recent years. It’s still a however. Cadmium batteries have fallen out of
fantastic option for energy absorbing Different composites will have favor in recent years as LiPo and LiFe
panels, but you’ll need to minimize specific types of applications they are batteries have become available.
the number of holes and make sure good for. Some are better in tension These chemistries were the go-to
it’s shock mounted as the and some are better in compression. option for years in the smaller weight
polycarbonate needs room to flex to This is due to what the composite is classes. You may be able to get these
work properly. made of. The parts — commercial or batteries for less cost than LiFe and
• Nylon: Nylon is a relatively rigid DIY — are a mix of a fabric (Kevlar, LiPo packs, but the price difference is
plastic with a high tensile strength. It’s carbon fiber, fiberglass, etc.) and a shrinking quickly and the massive
most commonly used as an internal resin. The fabrics generally perform weight increase for the same power
structural member. Nylon is also one well in tension, regularly exceeding output makes them a less than ideal
of the more durable economical the tensile strength of popular metals; option for a new bot.
options for 3D printed components. the resin handles the compressive
While 3D printing of metals is loads. SLA
possible, it’s still prohibitively Sealed Lead Acid batteries are still
expensive for most uses. Printed nylon Batteries seen in the heavier weight classes.
parts are relatively cheap and easy to These batteries are heavy, but they’re
get. Look for variations on “strong Lithium Polymer generally quite stable and can handle
and flexible” when looking for printed Lithium Polymer (LiPo) batteries putting out large amounts of current
nylon. are becoming the go-to battery option without issue. SLA batteries are
• UHMW Polyethylene: UHMW for most weight classes. These mostly worth consideration for robots
has become one of the more popular batteries provide the highest energy weighing 60 lbs or more. SV
construction materials. While relatively density of all battery types that are
low strength, it has proven to be an commercially available. The downside
extremely durable construction to LiPo batteries is that they deal with Major Vendors
material and is frequently used both damage poorly.
www.botbitz.com
as armor and for main structural There have been several incidents
www.e0designs.com
elements on robots. The light weight where a LiPo battery taking damage
www.fingertechrobotics.com
allows a large amount of material to has resulted in a spectacular fire. If
www.kitbots.com
be used, so this results in a very tough you’re planning to use LiPo batteries,
www.robotmarketplace.com
frame member that is capable of be sure to consider how you’ll protect
www.robotpower.com
absorbing a good deal of damage. them from damage as a battery fire
www.servocity.com
UHMW also has a fairly low will likely ruin most of the parts near
www.ttrobotics.com
coefficient of friction, so is often seen the battery.

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COMBAT ZONE
Weapon Systems
he sport is called robot combat, chunks on the front

T so it’s inevitable that weapon


systems will be discussed. The
weapon types commonly found on
use their drive power
to send their
opponents into the
fighting robots can be broken out into walls or any hazards in
two major categories: non-kinetic the arena.
energy weapons and kinetic energy Strong rammers
weapons. are sometimes capable
Non-kinetic energy weapons are of breaking spinning
generally more focused on control of weapons. They all have
the opponent over outright damage, one thing in common: Rammer. Photo courtesy of Michael Mauldin.
though these systems can and do they are very hard to
often cause serious damage. immobilize. They are often
Kinetic energy weapons use the invertible, durable, and have
high speed movement of either the powerful drive systems.
entire robot or a subsystem of it to
cause damage. While non-kinetic Wedge
energy weapons may sound safer, all Wedge robots are similar to
of these weapon types can be ramming robots. They share the
dangerous and should be treated with need for a powerful drive system, Wedge.
respect. a strong chassis, and good armor. Photo
Wedge robots are among the courtesy
of David
Non-Kinetic Energy most common types used in robot Weston.
combat today.
Weapons Many robot builders
Rammer incorporate a wedge of some sort
Ramming robots are the most into their design. For some, it’s
basic design in robot combat. A the backup plan if the weapon fails.
ramming robot relies purely on For other robots, the wedge acts as
strength and power for success. part of the weapon — be it leading
Ramming robots often incorporate into spinning blades or a hiding place
spikes or heavy chunks of metal on for a powerful lifting arm.
the front of the robot. These robots are all about
Spikes on a ramming robot are mechanical advantage. They get under
normally intended to penetrate the their opponents and use their drive
armor of the opposing robot. power to flip or shove them at high
Ramming robots with simple metal speeds into an obstacle like a rammer. Lifter. Photo courtesy of Chad New.

Lifter The most basic is pushing or


Lifting robots can rotating a single hinged piece of
be viewed as the next metal. It’s very effective in its
step up from a wedge simplicity. For this style of lifting arm,
robot. They perform linear actuators are often used. Linear
essentially the same actuators act like pneumatic pistons,
function. They both but slower and often in a lighter
make the drive system package.
of the other robot Another popular lifting system
Lifter. ineffective. There are a uses a four-bar linkage. This system
Photo courtesy of
Jim Smentowski /
few different methods allows the bar to lift and push at the
RobotCombat.com. of constructing lifting same time. It also lets the arm tuck
arms. nicely back into a flat chassis. This

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Flipping robots normally use opponent vertically and often spinning


pneumatics to power their into the air.
arms due to the high flow
rates achievable in Grabber
pneumatic systems. Grabbing robots are a variation
Pneumatics can be used in of the basic lifter. Grabbing robots use
any lifting system that can some sort of device to get a hold of
be operated by an extending their opponent which allows them to
rod. manipulate the opposing robot in
Flipping robots are able ways that other types are not able to.
to throw their opponents While some grabbing robots do not
into the air, possibly use a lifting mechanism in conjunction
dislodging vital components with their grabbing mechanism, the
or causing them to land in a two work together well.
Flipper. Photo courtesy of Will Thomas. manner that would prevent Most arenas used today do not
them from driving. have dangerous hazards in them, but
Crusher. Photo courtesy Flipping mechanisms grabbers could still be used to remove
of Josh Zimmerman. normally require more your opponent from a match by
weight than a lifter, as putting them over an arena barrier or
more power is needed into a pit.
to send a robot into the Grabbers are a good option
air than to tip it. against many opponents in the right
A prominent arena. They do have one major
flipping system in weakness, however. If they face a
European robots has the robot with a spinning weapon
piston attached to a mounted in an area the grabber tries
hinged plate that fires to pass through, there is a very good
system has proven extremely effective out of a wedge shaped chassis. The chance that their grabbing mechanism
when built properly. plate is hinged at the bottom, which will be forcefully removed from the
Some lifters drive the arms with causes the swing of the plate to not rest of the robot, making its primary
an electric motor. With that system, only lift the opponent but toss it away mode of combat inoperable.
the arm is attached to a rotating from the flipper robot.
shaft. The shaft has a sprocket or gear Another common flipping arm is Crusher
on it which is driven by an electric hinged at the back of the bot. It Crushing weapons can be very
motor. These systems require heavy extends to the front, and then bends devastating when used properly. They
gear reduction to be effective. down to meet the ground with some aren’t nearly as common as spinning
Hydraulic lifting arms have means of getting under another robot or flipping weapons, but are on par
sometimes been used, but are attached. The
uncommon in combat robotics. They pneumatic piston is
are usually too heavy and slow for either mounted
most applications of this nature. vertically or in a
Hydraulics are best suited for systems position that when
that require large amounts of torque the piston has
and not much speed. reached maximum
Lifting arms require a very strong extension, it will be
drive and chassis system to be vertical.
effective. If it cannot take the abuse a This reduces the
more aggressive weapon can deliver loss of force due to
while the lifter is trying to get under leverage some other
its opponent, it will not be successful. systems have,
allowing for a very
Flipper powerful throw.
Flipping robots are essentially These flipping arms
lifters run at much higher speeds. tend to throw the Grabber. Photo courtesy of Charles Guan.

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COMBAT ZONE
with them when you look at damage large swing angle, but allows
potential and combat effectiveness. for a light weapon drive. This
Crushing arms are normally method has been used on
powered by hydraulic systems or high many top hammer robots.
torque linear actuators. They tend to The simplicity of this system
be slow, but extremely powerful. The makes it an easy design to
goal of a crusher is to penetrate the start with.
armor of its opponent and dig the Rack and pinion hammer
arm into some vital component. Even systems are somewhat
if after achieving penetration nothing heavier, but have a major
vital was hit, they still have a very firm advantage. These hammers
grasp on their opponent. They can can swing 180 degrees or
take them into any arena hazards or more. The only rotational
just drive them into a wall. limit is the rack and pinion
Hammer. Photo courtesy of Al Kindle.
An effective crushing robot needs setup itself and the stroke of
to have an agile drive system, a solid the piston pulling the
chassis, and a strong arm. Due to the rack. Adjustment of Vertical Spinner.
nature of the crushing robot, it needs the gears in the rack Photo courtesy
of Orion Beach.
to be able to get to the weak points allows for precise
on its opponents to be effective. The control of the arm’s
forces that are put into the chassis by swing.
the crushing arm are enough to warp Spring fired
a weak frame. A solid frame for the hammers use powerful
area that this force is transmitted into coiled springs to shoot
is vital. the hammer
downward onto the
Kinetic Energy opponent, then a
heavily geared-down
Weapons electric motor to
Hammer retract the hammer
Hammer robots have many and ready it for the next swing. The horizontal thwack bots are more
options when determining how to spring can generate a great amount common as they tend to be easier to
operate their weapon. Several of power, but this weapon system is make.
different power sources are capable of much slower than many of the other Overhead thwack designs have
powering an effective hammer. options for powering a hammer the entire main body of the robot
The most basic method of weapon. rotate with the hammer. This means
actuating a hammer is to directly Running the hammer directly off that the majority of the mass must be
attach the piston to the hammer arm. a motor is a simple method for contained within the diameter of the
This system makes it difficult to get a making a hammer robot. Many of wheels. The striking object tends to
these systems are chain driven be light because a heavy weapon
to achieve the proper speed would be much harder to flip over the
and reduce the stress on the top of the robot.
shaft of the motor driving it. Properly balancing the rotating
Motor driven hammers tend to body of the robot is essential to
be fast but not as powerful as getting a good swing. Swinging the
pneumatic hammers. weapon is achieved by quickly
reversing the direction of travel and
Thwack using that torque to rotate the body
There are two types of 180 degrees.
‘thwack’ bots. One is a The other type of thwack robot
horizontal thwack robot. The spins its entire body horizontally to
Thwack. other is an overhead thwack cause damage. The impact points on
Photo courtesy
of Ilya Polyakov.
version. Both types have been the robot can be connected directly to
effective in combat, but the body of the robot or a mass can

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to one side. You risk Shell spinners have a rotating


either flipping over or mass that surrounds the chassis of the
losing traction as the robot. These spinners develop a high
wheels are lifted off amount of kinetic energy when
the ground. spinning due to the large mass of the
The hazard here is spinning object. The shells also double
that when you are as kinetic armor when the weapon is
doing this, the other operational. Shell spinners are most
robot is able to better effective when the shell is short in
position itself for a height. A low center of gravity keeps
counter attack. Vertical them stable after powerful impacts.
spinners tend to have Overhead spinners normally use
wide drive systems to bars. This weapon is not as powerful
counteract this force. as a shell spinner, but it’s easier to
Drum/Beater. Photo courtesy of David Moulds. build and weighs less. The weight
Drum/Beater savings allows for a stronger drive
be attached to the end of a pole. Drum weapons are the cousin of system or frame. The simplicity makes
Both methods have been effective in the vertical disk. Unlike vertical disks, it an easier project for a new robot
the past. drums tend to have a fairly small builder. These weapons — when used
The main difficulty with this diameter. They are also normally very right — can be extremely effective.
design is that translational movement wide, often covering the majority of Front mounted spinning weapons
while the weapon is active is difficult. one side of a robot. are almost identical to overhead
There are solutions to this, though. Gyroscopic forces become less of spinners. Instead of having the blade
Most systems that attempt to fix this an issue with the drum design. They on the top of the robot, it’s mounted
problem rapidly adjust the speed of also have a much wider impact area. into a frame that comes out one side
individual wheels to cause it to slowly Drums are often spun at a higher of the bot. This allows the blade to be
move in the desired direction. RPM than other spinners. Drum robots lower to the ground, and the robot
don’t rely on one big hit. Drums are that wields it to be taller without
Vertical Spinner meant to get to speed quickly and hit losing effectiveness.
Vertical spinners mostly come in many times in rapid succession. Undercutters do just what the
two varieties: bar and disk. Both do A common drum variant referred name implies. The idea with this
basically the same thing. The idea to as an ‘eggbeater’ removes the weapon is to remove the wheels and
with a vertical spinner is to use the drum portion of the design, using just anything else sticking out the bottom
ground to your advantage. the impact bars and supports in the of the opposing robot.
When a spinning object hits a structure of the weapon. Undercutter blades ride close to
robot, half the energy goes to each the ground which makes them
robot. Vertical disks use the ground to Horizontal Spinner difficult to avoid in a match. The
absorb that energy while the The horizontal spinner is a wide blades often have a material beneath
opponent only has its weight to resist category. It includes shell spinners, the bar to prevent them from hitting
the force. overhead spinners, front mounted the arena floor.
Vertical spinners require a lot of spinners, and undercutters. All horizontal spinners have
strength in the frame that problems with over- and
supports the weapon to under-steering. When you
Horizontal Spinner.
avoid damage during Photo courtesy of
spin a large mass at a
impacts. Many vertical Ray Billings. high velocity, it causes the
spinners have a support chassis to want to rotate.
going down from the The rotation of the
shaft of the spinning disk weapon will cause the
to help absorb the impact. robot to turn much faster
Vertical spinners are in one direction and have
prone to gyroscopic issues trouble turning in the
when turning. If you try other. It will also have
to turn too quickly with a some difficulties driving in
vertical spinner, it may tip a straight line. SV

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COMBAT ZONE
Custom Fabrication
hen it comes to building parts, the Team Whyachi Bot Shop

W robots, there’s a lot on the


market today. So much of
what you need can be ordered with
is likely to be your best option.
In addition to their machining
services, Team Whyachi also sells
little to no hassle. That being said, high quality gearboxes, wheels,
when building a robot you may come and power switches.
across specific parts or assemblies
where you can’t order it and don’t Big Blue Saw
have the equipment or resources to www.bigbluesaw.com
do it yourself. Major Equipment: Waterjet and
This isn’t a huge barrier though, Laser Cutting
because in addition to potentially Big Blue Saw does a few
working with local shops to get specific things and it does them Shaped titanium wedge, magnesium top
custom parts made, there are a lot of very well. If you need parts with a plate, and 6061 frame all fabricated by
Team Whyachi.
good options for custom combat two-dimensional profile cut out of
robot parts to be found online. a wide range of
materials and you
Team Tiki Robotics don’t want to wait to
http://ttrobotics.com find out what it will
Major Equipment: CNC Mill cost you, they’re the
Team Tiki is a small outfit that has place to get them. The
only recently started offering best thing about Big
machining services to the robot Blue Saw is that they
combat community. The relatively offer instant quotes for Steel weapons for an Antweight made by Team Tiki.
small equipment list means that Team a huge range of stock
Tiki won’t always be able to make the materials, so you’re not stuck waiting Reducing the number of different
parts you’re looking for, but if it’s and wondering what you’ve just sheets of material your parts need to
something they can make you can be spent. If the material or thickness you be cut from can dramatically reduce
sure you’ll be getting high quality want isn’t in stock, you can contact the per-part cost of your machine.
parts at good prices. them directly for pricing.
Beyond custom machined parts, One thing to keep in mind if eMachineShop
Team Tiki is also the primary US you’re trying to keep costs down, with www.emachineshop.com
distributor for BotBitz ESCs and their waterjet cutting, setup time is a big Major Equipment: Huge range of
own Beetleweight sized gearmotors. part of the cost on small part runs. capabilities
eMachineShop functions similarly
Team Whyachi Bot Shop to Big Blue Saw in that you can
http://teamwhyachi.com/botshop. quickly get pricing on a range of
htm custom parts. eMachineShop has their
Major Equipment: CNC Mill, Lathe, own free CAD program which is used
Waterjet, and Welding for modelling and quoting 2D or 3D
The Team Whyachi Bot Shop is parts. eMachineShop isn’t likely to be
effectively a one-stop place for high- the cheapest option on the market,
end fabrication. They’ve got the but it’s a good way to get parts made
equipment and abilities to make without any guesswork on what
almost any part you could realistically they’ll cost you.
want for your robot. One downside is Waterjet cut
they don’t quote pricing, so you’ll custom Shapeways
heatsink made
need to know what you’re asking from 1/2” thick www.shapeways.com
them for or else you may be in for a aluminum by Major Equipment: 3D Printing
surprise when you get sent the bill. Big Blue Saw. 3D printed components have
That being said, if you’ve got complex become very popular in the small bot

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FDM parts is that


due to how these
parts are printed,
they will be
weaker in some
axes due to the
printing method
as the bond Aluminum weapon hubs made via MFG.com.
between layers
isn’t as strong as the material create an account; put up a quote
itself. This means that request for one, all, or any
A 150g robot with printed sintered nylon chassis
from Shapeways.
components that are combination in between of the parts
stressed will be more likely to you want to have made with general
classes, and one of the easiest sources fail along a shear layer. info and drawings/CAD files; then you
for one of the tougher material Accommodating for this weakness can get quotes from shops all over the
options is Shapeways. Their “Strong & greatly reduce the risks in functional country or the world who are
Flexible” plastics are laser sintered parts. interested in making your parts.
nylon which is one of the tougher MFG.com has been used by
printed plastics available right now. MFG.com many builders with a good deal of
In addition to plastics, Shapeways www.mfg.com success. However, as you’re dealing
also can print steel, brass, and bronze Major Equipment: Almost anything with a specific shop, once the work
if you want to go with printed metal MFG.com isn’t a single shop. It’s begins you do need to proceed with
components. If you’re feeling a way to find shops that can make the some degree of caution until you’ve
particularly hands-on, they’ll also print parts you want. With MFG.com, you built up a relationship with that
parts out of castable wax which specific shop. A more detailed review
would make it possible to design of MFG.com can be found in the July
difficult-to-machine parts and cast 2013 issue of SERVO.
them out of solid metal.
Between the six resources
i.Materialise mentioned here, you should be able
http://i.materialise.com to find someone that can make just
Major Equipment: 3D Printing about anything you’d want for your
i.Materialise also offers a range of robot. In the cases of Team Tiki, Team
3D printing options, from FDM Whyachi, and Big Blue Saw, they’re
printed ABS (similar to how many also involved in robot combat and
home 3D printers operate) to sintered have supported events throughout the
titanium parts. years. SV
One thing to keep in mind with FDM printed model of a 30 lb fighting robot.

Packing for an Event


our robot is (hopefully) done, so scrambling for tools and borrowing The Bare Essentials
Y it’s time to pack your bags and
make your way to the event.
While it would be handy, there are
other team’s gear.
We won’t be talking about tools
that are particularly specialized. If your
This section covers the smaller
equipment that should be easily
quite a few impracticalities to bringing machine needs any specific equipment crammed into a relatively small
all your tools and equipment with you. for basic maintenance and repairs, toolbox.
This means you’ll need to pack a those take priority. The following
selection that at least should be sections will cover tools that are Improvised Repair Kit
enough to get you through the event almost universally useful in the pits At events, sometimes you’ll end
without spending too much time during an event. up with damage that isn’t able to be

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COMBAT ZONE
properly repaired with the tools and keys, look at the inch and metric Wiha the right tool, but are often good
materials you’ve got available. Having ErgoStar keys enough to get the job done when you
a selection of the following items can (www.wihatools.com/600seri/669C don’t have the right tool handy.
help make the best of a bad situation: hrom_mm.htm). They’re a bit pricy
• Hot Glue Gun as far as hex keys go, but they’re a Small Hammer
• Epoxy good quality steel and the case design
• Super Glue™ makes it much easier to remove just
• Zip Ties the key you want.
• Duct Tape
• Goop/Shoe Goo/E-6000 silicone Locking Pliers
adhesive A good set of locking pliers can
• Velcro™ be fairly versatile at an event. When
• Electrical Tape paired with a vise or immovable
slotted object, they can quickly aid in
Hex Keys the de-bending of damaged armor. If
you strip the head of a screw, a few
flats ground into it and you can use
these to break it loose. If you’re
hammering something flat, these
move your fingers farther from the A small hammer can do quite a
hammer. lot in a small package. If you can find
For such a basic tool, they’re quite one, the ideal hammer for this
versatile and won’t take up much purpose is fairly light, has
space in the toolbox. There are a ton interchangeable heads (often nylon,
of options on the market to choose brass, or steel), and will normally be
from. A traditional curved jaw plier less than 12” long. The softer faces
will probably serve you better than a on this hammer allow for quite a bit
needle-nose in most general of energy transfer while not doing
Most robots will have at least a applications. So, if you’re in a spot much (if any) damage to the surface
few fasteners in them that need a hex where you have to choose one over of the material you’re hitting. This is
key. Keep a nice set together so you the other, that is where to start. particularly useful when flattening
don’t spend half your repair time bent armor panels or pounding down
searching for the right sized key. MultiTool gouged areas.
In general, the T handle style hex If you’re searching for one of
keys are more comfortable to use. these online, a search that turns up
However, it’s highly likely that you’ll quite a few results is “interchangeable
run into situations where you’ll need head hammer.”
the shorter profile provided by L
shaped keys. In addition to this, many Wire Strippers
commercially available power switches It’s tough to predict when you’ll
use hex keys for operation. need them, but at some point, you’ll
For power switch activation, need a set of wire strippers in the pits
either a T handle or screwdriver style
hex key is a good option as they are
available in long lengths which keeps
your hands away from the robot Exactly what you get here
during power-up. depends on the model, but you’ll
If possible, add a layer of heat normally get at least a set of needle-
shrink tubing to the majority of the nose pliers, wire cutters, wire
key length to insulate it from the strippers, a knife, and a screwdriver. In
chassis and differentiate it from the most tasks, it’s not as good as the
rest of your keys. tool it’s replicating. However, it makes
If you’re looking for the luxury for a compact way of having a spare
option when it comes to L shaped hex of each of them. Multitools are rarely

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at an event. If you don’t already have abrasive discs allow for shafts to be at the last minute and won’t have
a pair, it won’t be expensive to get a quickly cut down, lightening slots to gotten around to checking the weight
decent small one for your toolbox. be cut, stripped screws to be slotted, until the day of the event. Whether
and wedges to be sharpened. it’s you or someone else in this
Wire Snips position, having a drill handy is a
Sliding Clamps decent method of dealing with the
problem.

Cordless Impact Driver


If you manage to make it toward
the end of the bracket at an event,
time starts getting quite tight. An
impact driver combined with a bit set
can dramatically speed up the removal
and reinstallation of access panels
between matches.

Angle Grinder

While having wire snips and


strippers may seem redundant, often Whether you’re using them to
wire strippers have the cutter deep hold parts in place while you’re de-
within the jaws of the stripper. The bending them, using them as a
snips are only meant for cutting, weapon lock on a small robot (do test
which means if you need to quickly to make sure it will actually stop the
extract some piece of electronics you weapon before assuming it’s capable),
won’t be stuck trying to cut it out or just using them as an extra hand in
with a knife or awkwardly fumbling the pits, these things always come in
with wire strippers. handy. If you can fit it, pack a few in
These are also quite handy for different sizes.
quickly removing zip ties if you use
them to keep the wiring in your 1/4” Bit Set and Driver
machine in order. A good bit set will make sure
you’ve almost always got the If you absolutely need to grind it
Adjustable Wrench screwdriver head on hand that you flat, cut it off, or shave it down now,
If you can fit a full wrench set in need. If you use the case, you’ll have an angle grinder is the tool to use.
your box, go for it. If not, an them all relatively neatly organized in You can get a wide range of wheels
adjustable wrench is almost as good one spot, so when you need them for them with grinding, cutting, or
and takes up far less space. Even if you won’t waste time digging. sanding as the primary focus, and
you’ve managed to not use nuts when used properly it can do the job
anywhere on your machine, it can still Luxury Items a rotary tool would do in a fraction of
come in handy as an additional de- the time. Just be careful with where
bending or prying tool. If you have more room for tools the sparks or dust gets sprayed.
than just a small toolbox, there are Whenever possible, make sure to
Soldering Iron quite a few handy things that you can cover any openings into your machine
If you end up having to do much bring with you. In general, these will with tape or similar to reduce the
of any electrical repair at an event, allow for faster modifications or chances of metal shavings getting in
you’re almost certainly sunk without repairs during an event. and shorting something.
one of these.
Cordless Drill Large Hammer
Rotary Tool The big use of a cordless drill at As with the angle grinder, a large
There’s a good chance you’ve got an event is removing weight at the hammer will often do the same job as
one of these already, and you already last minute. It’s almost inevitable that the similar small tool but much faster.
know how useful they are. The someone will have finished their robot A large sledge or demolition hammer

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COMBAT ZONE
should be a tool of last resort, but machine together and you’re able to competing.
when it is needed to fix the problem, bring your welder, it’s worth the There will almost certainly be
there is no substitute. hassle. something that has been left off this
You’ll be quickly able to patch up list that will be useful to you. As a
Benchtop Shop Tools damaged sections or repair broken final step of the packing process, you
Occasionally at an event, a team welds, and it can often be the should take the time to walk around
will bring a drill press or other similar difference between doing the repair your work area and take a look at
shop tool. If you’ve got the capability correctly or using duct tape. each of your tools and think about if
to bring one and are willing to allow it could come in handy during the
other teams to use it as well, you’ll event.
rarely be alone at an event. Drill There are plenty of other tools If you think you’ll need something
presses, benchtop mills, and small that you can bring with you, but and you’ve got the space and weight
lathes all allow for a fairly extreme outside of necessary specialized tools, for it, bring it.
amount of damage to be repaired at these are the first ones you should Even if you don’t end up using it,
an event, often by frantically remaking look at bringing to an event. there’s a good chance someone else
the damaged part. While it’s difficult to plan for will need one and your help could be
every issue, these tools should have the difference between someone
Welder you prepared for the majority of making their next match or having to
If you’ve welded a portion of your situations you’ll run into when forfeit. SV

What to Expect at an Event


verything’s packed, the robot is bot down with the wheels off the to ask any last-minute questions you

E done (this part is VERY


important), and it’s time to go
to your first event. Now what?
ground and perform whatever normal
maintenance you need to between
fights.
may have.

Your First Fight


Arriving Inspections It’s time for your first fight. Many
events will have at least the next few
Typically, the venue will open Run your bot through inspection matches announced, so you’ll have a
several hours before the first match of as early as you are able to. If issues do few minutes to prepare. If you’ve got
the day to allow time for people to come up, this will give you the a weapon lock or sharp edge covers,
arrive, set up, and get through maximum amount of time possible to make sure they’re still secure, then
inspection. You should try to arrive as resolve anything. If there aren’t issues, take your robot, transmitter, and
early into this period as you are able then you’ll have time to relax or take whatever tools/links/etc. are required
as this will allow you to be fully care of other pre-fight preparations for power-on to the staging area if the
prepared for your first fight well in without having to worry about getting event has one.
advance of the start of the event. anything else ready for your first Once your fight is up, you’ll load
match. Most inspections consist of a in following standard event
Your Pit Space weight check, a visual inspection of procedures. (If there is a bot wrangler,
the robot, and a failsafe check. they will typically determine which
Organizing your pit space is a robot loads first.)
great way to make sure you don’t Driver’s Meeting Once both bots are loaded and
waste time while making repairs or the doors are closed, you’ll be able to
performing maintenance. If possible, The majority of events have a do a quick functional test to ensure
have a dedicated location for batteries driver’s meeting shortly before everything is working as expected,
that are fully charged and a location starting the matches. Attendance is then it’s time for the fight to start.
for batteries that need to be charged. typically required at these meetings. Once the match is over, the bots
This will help ensure that there aren’t Topics that are covered include things will be loaded out also following
any mix-ups when replacing batteries like the match format, key match standard procedures, and you can
between fights. procedures, event structure, and roll return to your pit for maintenance
Also, be sure to have a specific call to ensure that the brackets aren’t and/or repairs.
“work” area where you can set your missing any robots. This is also a time Between Matches
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Early in events, there’s usually a were using for your last fight. event. If you’re able to, try to stick
lot of time between matches — Taking care of the between fight around for it to either receive your
especially if you’re running a single maintenance right away also means trophy/prizes or support your fellow
bot. That being said, the best habit to you’ll be far less likely to be called up builders.
get into is to immediately take care of for your next fight while you’re still
whatever repairs or maintenance you trying to put things back together. Packing Up
need to do following your match.
Doing this means you’ll have more Closing Ceremonies Packing up can start as early into
time to fix any issues you discover the event as you’d like. When
during maintenance, and you’ll have Many events have some sort of possible, if you’re pulling tools out to
more time to charge the batteries you awards presentation at the end of the work on your robots, put them back
in your tool box or keep them
organized between uses. While that
may add a bit of time to what you’re
doing at the moment, in the long run
it’ll save you time looking for a
specific tool you were using earlier
and/or when you’re trying to get
packed up at the end of the event.
Keeping only the essentials out
and readily available during the event
helps maintain a more open work
area and reduces the chances of tools
being obscured by other stuff on your
pit table.
Once your bot or bots are done
fighting for the event, then you can
pack away the rest of your pit area
and head out or watch the rest of the
event depending on how far into the
bracket you’ve made it.
I would recommend the latter.
SV

Make your machine move


MICRO LINEAR SERVOS
· 10mm-300mm stroke · 25kg+ available force
· 6v-12v power supply · 15g-100g net weight

ACTUONIX . COM

30 SERVO 02.2018
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The Making of
Andros By Mitch Anderson

I was at the point where making “toys”


was not fulfilling anymore. I wanted to
put my skills to work for something
useful. I decided to design a
police/military robot. I knew that they
are very expensive, and I thought I
could do a prototype that would be
more affordable. I realized the
complexity — especially of the arm
assembly — so I was a bit hesitant.

O
ne evening while browsing eBay, I stumbled across a
used “as-is” retired police robot. I thought it would
be a great way to ease myself in this field by
restoring a professional robot first and take those lessons
into the next design.
So, I made an offer of $10,000 on the Remotec Andros
Mark 4. Quite a price, but not so bad considering that a
new one is over $250k. The list price on eBay was $20k, Mitch and Emma Anderson, the father-daughter team
but they took my offer. Remotec is the name in this field, working on the robot arm. Here, they’re installing the
rifle module that can replace the grip unit.
and they don’t sell to the public.

The Process was nice. On the receiver side, I used the matching DEVO
RX1202. It’s stable and reliable, and much cheaper than the
A week later, the machine came: 900 pounds including fancy RC names.
all accessories (such as a tether cable unit, for example). For the signal processing, I decided to use the Teensy
Some rubber tracks were broken, there was no 3.5 development board since I heard they are incredibly fast
documentation, and it seemed like it had not been fired up (compared to my old time favorite, the Arduino Mega).
in a long time. I decided to use two processors: one for the traction
I called the company; unfortunately, they didn’t support wheels and the four “legs” (total of four motors); and one
this model anymore with parts or documentation. for the arm.
I decided to re-do all the electrical stuff and remote The “Traction Teensy” was the receiver of all 12 PWM
control from scratch. I was facing 10 brushed DC motors, channels using IRQ functions. The traditional PulseIn is very
but I felt pretty confident that I could handle that. slow for the processor. This Teensy would also communicate
eight of those values to the “arm” Teensy through an I2C
Parts and Architecture protocol. I don’t think that any Arduino model could deal
with all this stuff in a timely manner, but the two Teensy
For RC, I decided to go with a traditional 12-channel boards did. I was really impressed.
radio with a built-in video screen: the DEVO F12. I like Next, I realized that I didn’t have enough proportional
things that are compact, and having the screen right there controls on the TX radio to deal with the wheel and arm
SERVO 02.2018 31
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To post comments on this article and find any associated files and/or
downloads, go to www.servomagazine.com/index.php/magazine/issue/2018/02.

The arm has been assembled back,


but there were still issues to work on
inside the main box. The robot opens
like a box for access inside; the arm is
resting on the table. This part of the
body contains a 20 AH battery, four
motors, a circuit breaker panel, DC
motor control, and a few relays.

commands at the same time. I


contemplated adding a second TX,
but that was going to be
cumbersome. Carrying two radios for
one robot?
I decided to make a “Mode”
function in the software, connected
to one of the RX binary switches. This
way, the same proportional sticks
would deal with either the wheels or
the arm based on the Mode
selection. I realized that I won’t ever
drive and grab things with the claw
at the same time.

Mechanical Issues
With my daughter Emma’s help,
we took apart all the hubs, cleaned
them, and lubricated them. Andros
runs on brass bearings (not wheel
bearings), in order to deal with heavy
loads. From existing pictures, I
noticed the newer generations of this
model have optional rubber wheels,
so the unit (280 lbs) doesn’t wear
out the tracks. This robot didn’t
include that, but I wanted the option.
Enter Home Depot’s wheelbarrow
wheels at $25 a piece.
That was the easy part.
Attaching them to the hub was a
challenge.
As a spacer, we used a waterjet
cut 2” thick piece of acetal on each
wheel. We then made a connecting
plate (1/4” aluminum) from the
Andros’ hub to the wheel; each being
screwed in to the hub by 20 10-24”

Robot on its “toes” and the upper


electronics box open. The two Teensy
2.5s, the RC receiver, the telemetry
unit, and antennas reside here. An
analog ammeter has been
temporarily attached on the side to
monitor power consumption (almost
30A when the robot climbs stairs).

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stainless screws. Andros is supposed to


be rainproof, so all parts we used are
either aluminum, brass, or stainless; this
way, nothing can rust. It all worked out
well. The wheels are solid. I can ride on
the robot, and I’m 250 lbs.

Powering and
Controlling the Arm
We discovered the arm was more
complex than the traction. Weighing 65
lbs on its own, we decided it would be
better to detach it from the robot and
install it on a separate table on wheels.
The first step was identifying the
wires coming out at the bottom; there
were about 45 of them. Emma and I sat
down patiently with the ohmmeter,
finding pairs of 2-3 ohms of resistance
between them (that is a motor). Next,
we applied 12V on each pair from a
battery and observed the motion. We
documented everything such as “base
rotation, right-left,” “shoulder rotation
extend-withdraw,” etc. Luckily, there was
no interruption in the wires, so
everything powered fine.
Next, I designed a circuit taking each
pair to an H-bridge controller (nothing
fancy; $16 on eBay), and I wrote the
software on the Teensy that would take
the RC signals and convert them to PWM
and motor direction commands. After all The first part of the project: The arm was detached, so we took care of the
was said and done, we connected all the traction and the four legs. We also built a ramp to drive the robot into the
above-mentioned pairs to the H-bridges. It family’s Volvo SUV. Since the robot weighs 280 lbs, we had to test the ramp
all worked after a few hiccups, of course before attaching it to the car. It bent, but it held okay. The ramp solution
worked out well.
(inverted wires, loose wires, minor stuff).
So, there we were, on our knees
with the remote picking up a 30 lb lead bar from the floor Cameras and Remote Video
with the arm fully extended. That is impressive! Most arms
are very limited in the weight they can hold.
Receiving
While playing with it, the shoulder motor quit working. Andros was designed with two cameras: one on the
It was turning, but the arm was not lifting. We took it apart “hand unit,” and a fancier one (zoom, high-res) on the
and discovered that the worm gear axle broke. We found “periscope” assembly in the back. They were both feeding
the Engel motors distributor and he told me it would take the signal in a switch that would take the video output and
eight weeks to get me one. There was no way we could send it as UHF to a receiver.
wait that long, so I went to a machine shop in my I didn’t like the idea of switching the video, so decided
neighborhood. to have two transmitters instead: one for each camcorder. I
We took the motor apart, and they welded an even used the Boscam 2W RF model — the maximum power they
thicker axle instead. We put the worm gear back in, and it make. I could then monitor both cameras (on two
now works like a charm; even stronger than before. The monitors) or switch between them by toggling the power
repair was $180, but well worth it. to each transmitter — front or back. The front was easy — a
Finally, we put the arm back on the base of the robot, simple super wide FOV 600x400 cam.
reconnected the wires, and it worked. For the back, I used an older Sony (HDR-SR10)
SERVO 02.2018 33
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Disabling Demo from the Sony menus did not work.


After power reset, it would go back to “Demo” after 10
min. What to do?
I found the IR code for the “take a picture” camcorder
function and I programmed the Teensy to tell the
camcorder to take a photo every seven minutes, or 500,000
milliseconds. It worked! It’s kind of fun, actually. As we play
with Andros, a sudden big flash happens at the most
unexpected times.

What does Andros do?


Andros is mainly a bomb squad robot. The robotic
hand can handle a package, open a door, go in a building,
or drag a disabled person. Andros can also handle tools, cut
a door down, drill holes, dig in the ground, sweep the earth
In the foreground, you can see the arm of the robot. It’s with a mine detector, and punch holes in various materials.
been detached and installed on a rolling table. Weighing
80 lbs, it was most challenging to get the pinout correct. Andros also has a laser guided rifle unit. The rifle can
There are seven motors and connections to the upper be remotely aimed and fired.
camera. In the background, Emma is soldering terminals to The robot has long-range remote video and audio
a test connector. capabilities, and can go into dangerous environments
(hostage situation, toxic, radioactive, etc.) and video
camcorder with HD and some image stabilization (nice to broadcast with sound.
have when the robot is in motion). This camcorder came
with an IR remote that would allow zoom, record, etc. I
wanted to have these functions available from my radio
What do I want to do with
controller. Andros?
I did some research on the ‘net and found the infrared I would like to have a small “robot for hire” business.
commands for the zoom function for this model. I brought
a couple of wires from one of the Teensy units to an IR LED I studied electrical engineering in my native Romania,
and I took computer science in the US when I arrived at
that I parked in the camera box, right in front of the the age of 23. My dad (and hero!) was a mechanical
camcorder. I programmed one of the three-position engineer, overseeing a machine shop of 60 workers. It was
switches on the radio TX to tell the Teensy to generate my favorite hang-out as a kid. He was also an inventor; in
1965, he redesigned suspension parts for Tatra trucks.
zoom in and zoom out IR commands to the LED. It worked. When his design was adopted by the factory in
Now comes the unpredictable part: The darn Czechoslovakia, that earned him a promotion and a bonus.
camcorder would go into “demo mode” after 10 min of Later, he designed a rock drilling installation that would
pump liquid cement inside the cracks of mountains. He
power-on. Not acceptable! The Andros might survey worked for a hydroelectric dam company, and stabilizing
suspects for hours at the time. tectonic movements was essential to the safety of the
dam.
I started my career at Xerox in the ‘90s as a field
support engineer. Having a lot of idle time between service
calls, I decided to fix and re-sell PCs. When I got laid off in
‘97, I turned that side job into a full-time business. By 2004,
we were employing 16 people, but I was getting burned
out. The business world is exciting, but is also a battlefield.
I needed a change and wanted to explore other areas of
life.
I sold the business and devoted my time to my family
— especially to my twins.
When my son was 12, he told me how much he envied
my childhood. I said “What? There was communism,
shortages, no human rights ...” “Yes, but you’d go to your
dad’s shop and make things. In the summer, you send me
to those camps where boys only care about exchanging
ringtones.”
His words really got to me, so we started a garage
workshop. I was eager to get my hands dirty again as well.
We made lots of WW2 1/6 scale vehicles, and even
Mitch got attacked. (Oh no! Are the robots taking over?) won a couple of modeling prizes. My daughter, Emma
No project is complete until you have some fun. soon jumped in.

34 SERVO 02.2018
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Action TV shows often feature robots. In a zoo, a similar potential clients, but their products can’t be disclosed right
robot was used to shoot a tranquilizer in a depressed feline now.
that would not come out of the den. I’ve learned a lot from this restoration. The mechanical
In mines, similar robots dismantle non-exploded structure done by Remotec is very solid, and it would have
charges, inspect abandoned shafts for safety, and monitor taken me years to develop on my own. From what I know, I
toxic gas levels. In chemical plants, robots can turn off believe I’m the only private citizen to have a functional
valves in places where humans would not do well. Many of robot of this size and capability. SV
these businesses would not invest in the acquisition of such
a robot and for the personnel training. Enter Andros.

What will I do
next?
I would like to have a small fleet
of three robots, with Andros being
the biggest. Next, I’m working on the
smallest one: “Polverson 1.” I’m
building it from scratch and am
designing an object recognition-
retrieval capability, so it can roam a
lawn (for instance), and identify and
pickup a golf ball.
I’m also discussing custom
robotics projects with a couple of

SERVO 02.2018 35
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Avoiding Obstacles
while Following a
Line with the By John Blankenship

To post comments on this article


and find any associated files

Scribbler 3 and/or downloads, go to


www.servomagazine.com/index.
php/magazine/issue/2018/02.

Many people know that Parallax’s Scribbler 3 robot can draw pictures
with precise movements because of its wheel encoders. However, the
Scribbler’s IR and line sensors along with access to a hacker port provide
capabilities that make it a contender for more mainstream robotic
projects. That algorithm will be explained in detail, so you can make
other robots perform these tasks even if you don’t own a Scribbler.

I
n the September 2017 issue of SERVO, Carol Lynn autonomous sensor-driven behaviors. In fact, it’s easy to
Hazlett demonstrated the Scribbler’s ability to make assume that a robot known for its ability to draw might
very precise movements. While such precision is not be worthy of conventional robotic projects.
impressive for drawing (letting the robot live up to As you will see, such predispositions are unfounded.
its namesake), it’s generally not necessary for The truth is that the Scribbler 3 (S3) is an inexpensive fully-
assembled robot with many capabilities that are worthy
of your consideration.
The purpose of this article is to spotlight those
capabilities and demonstrate how easily they can be
implemented using a version of the BlocklyProp language
developed specifically for the Scribbler.

Available Sensors
The Scribbler has many sensors, but those used in
this article are two infrared units to detect objects in
front of the robot and two reflective sensors for
following a line.
These alone are enough for some interesting
projects, but the S3 BlocklyProp language has built-in
support for servomotors and PING))) ultrasonic sensors
connected to the hacker port (which provides six digital
I/O lines and two A/D pins).
Figure 1. For this article, a small servomotor will act as a
36 SERVO 02.2018
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rotating turret for the PING))) to provide ranging data.

Adding the Turret


Figure 1 shows how easy it is to add a ranging turret
to the S3. The main body of the servomotor was hot-glued
to the back of a PING))) sensor, and a four-pin header was
hot-glued to the servomotor’s output shaft.
This allows the turret to be mounted by simply
plugging it into the solderless breadboard also shown in
the figure. The breadboard was attached to the S3 using
double-sided tape.
Note also that the servomotor and the PING))) are
connected to the S3 hacker port (which also supplies both
5V and 3.3V to power external sensors). Figure 2 shows
the turret mounted on the S3 in its operating position.
I wanted a project that would demonstrate not only
the PING))) turret, but also the line and IR sensors. Figure Figure 2.
3 shows what I came up with. The S3 will
use its line sensors to follow the line shown,
starting from the left side.
While following the line, the S3’s IR
sensors will be utilized to detect objects
blocking the path. When an object is
detected, the turret will be pointed forward
and the PING))) data used to move the S3
until it is two inches from the obstacle.
At that point, the S3 will reorient itself in
preparation to follow the contour of the
object until it finds the line again. It does this
by turning the turret to the left and using
the PING))) to maintain a fixed distance from
the wall.
The line sensors will be monitored
during the line following, and when the line
is detected, the S3 will reorient again, this
Figure 3.
time preparing to resume the line following
behavior.
The S3 will continue following the line until it finds a
second obstacle before terminating the program. Figure 4.
Everything could have been done with only the PING)))
turret and the line sensors, but this approach also
demonstrates how to use the IR sensors (which have the
advantage of providing detection data faster than obtaining
range information from the PING)))).

The Program
Figure 4 shows the main portion of the program used
to implement this project. It starts by setting up three speed
variables that will be used to control the robot’s movements
throughout the program. The servomotor is then positioned
directly forward.
You would expect this to be 90°, but my servo and
SERVO 02.2018 37
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Figure 5.

Figure 7.

mounting required a parameter of 80 to be


pointed directly forward.
An IF statement in Figure 4 allows the main
functions to be executed only if the reset button
on the S3 is pressed. This allows the user to start
the program by pressing this button.
The four user-defined functions shown then
make the robot perform the following tasks:

• Follow the line until the path is blocked by


Figure 6.
an obstacle.
• Prepare to circumnavigate the object by
following its contour.
• Hug the object’s contour until the line is
seen again.
• Prepare to follow the line by aligning with it.
• Follow the line again until the path is
blocked by an obstacle.

Let’s look at each of these modules


Figure 8. individually to see how they work. Figure 5 shows
the FollowLineTillBlocked module. It begins by
moving the turret to its forward position.
Next, a loop continues as long as an obstacle
is not detected by the IR sensors. Inside the loop,
an IF statement gently turns the robot right or left
depending on the state of the line sensors.
You can control how fast the robot turns by
experimenting with the speed parameters
mentioned earlier.
Figure 6 shows how the robot orients itself to
prepare for the wall following behavior. The IR
38 SERVO 02.2018
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sensors can detect objects 8-10


inches away, so we need to move the
robot closer to the object blocking
the path before attempting to follow
its contour.
A loop does this by moving the
robot forward as long as its distance
from the object is greater than two
inches. The robot then is rotated to
FREE
the right 70° to align it with the wall. Software
It will still be facing the wall a little,
but that is preferred over facing away
from the wall.
Figure 7 shows the wall FRONT PANELS
& ENCLOSURES
following routine. It starts by pointing
the turret to the left (and slightly
forward) to obtain the distance to the
wall slightly in front of the robot
(which enhances the wall following
YOU DESIGN IT
performance).
A loop then turns the robot away
WE MACHINE IT
from the wall when it gets too close,
and toward the wall if it is too far
away. This action continues until the
line sensors detect a line.
Figure 8 explains how the robot
prepares to follow the line again. It
starts by moving forward two inches
to get itself over the line.
Then, it rotates right until the line
sensors indicate it is properly
positioned.
The last function call in Figure 4
simply calls the FollowLineTillBlocked
module a second time to follow the
line until an obstacle is detected
before terminating the program.
As you can see, BlocklyProp
makes it easy to implement line
following and obstacle avoidance
NEW
behaviors on the S3. DIGITAL PRINTING
I’m hopeful that support will
soon be added for the Parallax
compass and background serial
communication with user-definable
pins.
Such additions are already
available on other Parallax products
and would make even more
advanced behaviors possible with the
Scribbler 3. SV

1-800-373-9060
www.frontpanelexpress.com
SERVO 02.2018 39
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The STEAM Maker


Festival 2017
The STEAM Maker Festival is a collaborative The STEAM Maker Festival provides an
venue for students, educators, and professionals opportunity for community members to come out
within the community and industry to and display their commitment to the outreach of
demonstrate programs, projects, practices, and STEAM programs, and to show that Science and
resources that enrich STEAM education. Technology can impact learning in fun and
exciting ways.

The San Diego STEAM


Maker Festival unites
sponsors, foundations, schools,
parents, students, and
community partners for a
grand hands-on STEAM
experience.

100% of all proceeds and


sponsorships go directly to
provide free events, programs,
and activities to San Diego
County schools, including all
the STEAM Challenges which
welcome hundreds of
participants from 200+
schools, in addition to over
6,000+ attendees all from
diverse socioeconomic
backgrounds.

With 42 school districts, over


200 participating schools,
100+ student teams
participating in STEAM
challenges, and industry/tech
company demonstrations and
activities, there is no other
festival like it.

The 2017 STEAM Maker


Festival in San Diego, CA was
held this past December 2nd
at the Del Mar Fairgrounds.
Here, we present reports from
five 8th grade/14 year old
students who give their
impressions of the event.

40 SERVO 02.2018
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To post comments on this article, go to www.servomagazine.com/index.php/magazine/issue/2018/02.

Eric Davis

S
ince 2008, Droid Builder has been fascinating Star
Wars fans everywhere with their clever Star Wars-like
robots. Their R2-D2 is amazing, and it brings this
character to life before your very eyes! This is a must see
for any Star Wars and/or robotics fan. I was lucky enough
to see Droid Builder’s R2-D2 at the STEAM Maker Festival in
San Diego.
I saw many great exhibits at the Festival that obviously
took a lot of time and were outstanding. Lots of people
and students were proud of what they had put together
and I was really intrigued by them all, but my attention was
especially drawn to the Droid Builder R2-D2 robotics project
that focused on building Star Wars Universe droids.
The Droid Builders biggest and most notable droid was
the blue and white unit. The Droid Builders first started
working on their droids in 2007 and the first finished R2-D2
was done in 2008. R2-D2 (or R2 for short) was a blue and
white astromech droid.
You might be asking yourself, “What is an astromech?”
Well, an astromech droid — also called an astro droid or a
mech — helped with power distribution on the ships and
with co-piloting. R2 was from the planet Naboo.
Creating the droids really seems like an involved and
elaborate process. The creativity of the R2-D2 specifically is
amazing and took a lot of pieces to construct. The droid taping off everything so it could be painted. Each part took
builders had to go section by section when creating and 4-6 coats of paint, which included primer and then layers of
putting it together. The sections included making the dome, the various colors. (I think they must have consulted the
body, legs, ankles, feet, and accessories. It’s worth actual Star Wars movie set team for the colors because they
mentioning each section in detail. were so exactly like the droids in the movie.)
First, let’s talk about the dome. Aluminum parts such The next step was assembling the droid. Some parts
as the dome ring, dome bumps, holo projectors with had to be glued together while others had to be cut and
lenses, and many other items were necessary just to make drilled, and then fastened together with nuts and bolts. The
the dome. electrical portion seemed more complicated, but basically
The next section was the body
which required many pieces as well;
for example, aluminum skin mounting
blocks, skin straps, and more. Then,
there were the shoulders which
included shoulder shims, shoulder
hubs, and much more. From there,
they had to make the legs, ankles,
feet, and accessories. The process
seemed very detailed (honestly, I
didn’t follow it completely when the
droid builder was explaining it to me).
I did get the sense that the builder
was very passionate and
knowledgeable, and it took a lot of
time and patience.
Another aspect of the building
process included prepping and
painting the parts. The builders had
to ready the aluminum and steel by
sanding and filing it, and finally
SERVO 02.2018 41
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STEAM
amazing to see something from
such a mega hit blockbuster come
to life. People loved it!
The noises the droids made
were exactly like what we heard in
the movie theaters, and the way the
lights flashed and lit up was equally
authentic. It was definitely one of
the busiest booths at the Festival.
Another great thing about the
presentation was that Droid Builders
had their own people walking
around answering questions and
talking about the droids. These
people could be easily identified
because they were dressed up like
other characters from the Star Wars
period. This was extremely cool and
added to the feeling of being on a
movie set. These “characters” were
very knowledgeable about all things
droid and Star Wars. Having Droid
Builders available to talk to people
included a seven-channel radio control system, a dual who visited their booth really added to the presentation
controller, forward and reverse speed control, switches, because people were able to learn more about the main
resettable fuses, wires, batteries, and volume control. characters themselves and all about the actual build of the
Building a droid seems like something not just anybody droids.
could do. The whole experience really made me appreciate the
The Droid Builders’ booth was extremely cool and drew art of presentation. If you aren’t able to present your
a lot of attention. They had one realistic sized R2 roaming project well and interact with an “audience,” it won’t be
around their booth, plus they also had 3-4 smaller droids noticed much, and certainly won’t be the center of
moving around the zone as well. Lots of kids and their attention.
parents were excited, walking around, having their photos
taken with the droids and just generally having fun. It was Lucie Kaskoun and Annika Huff

T
he 2017 STEAM Maker
Festival was super cool this
year. It included many
different exhibits that ranged from
student-run booths to booths run by
professional organizations. We were
able to interview a young man by
the name of Lorenzo van Munoz.
We’ll describe what van Munoz has
accomplished, what organization he
is from, some of the struggles he
has dealt with, and lastly what has
brought him to STEAM Maker
Festival 2017.
One of the exhibits was done
by the San Diego Youth Space
Program (or SDYSP). Their mission is
to provide high school students with
the ability to send actual
experiments into space. Their
42 SERVO 02.2018
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Science, Technology, Engineering, Art & Mathematics

purpose goes farther than this, though. They find that


by teaching teens and young adults these important
concepts, they are helping them work towards the
future. They have been successfully doing this for a
while. The SDYSP has created things like carbon
dioxide monitors and phototropism in microgravity
modules. These are incredibly important experiments,
as they help us learn about outer space, which is a
place we still don’t know much about.
Instructor van Munoz has been working hard on
a project called the nanorack box. The nanorack box
is an experiment that tests the difference in amino
acids from earth and space. This box can prove useful
for many reasons. It suggests altered molecular behaviors of the SpaceX Falcon 9 rocket and got to call the International
lysine — a major component of DNA strands — in space Space Station home for 30 days. This experiment was
have a role in the strange gene expression patterns noted extremely important to do because it helps to show how
on the space station. This is extremely important to know humans could live in space one day. This experiment
because it tells us how being in space affects our human showed that plants could grow in microgravity, and plants
bodies. are necessary for human survival in space as they provide
Some items van Munoz’s team created for this food and oxygen.
experiment included making a system to utilize multiple One of the other activities at the Festival was the $250
chromatography strips, constructing a mechanical system social change challenge.
out of memory shape wire to manipulate the slides into the Students were asked to create real change in the
vehicle of the camera, and developing a chemical detector environment, cities, and neighborhoods, and the way
which allowed them to observe transparent amino acids people around the country think. If their proposal was
with flourosine. chosen, they were eligible to receive funding up to $250.
Even though the team faced many difficulties while We believe this is crucial because by the younger generation
accomplishing these tasks, they were able to persevere and learning about how to help out the community, they are
overcome. However, they were faced with a more difficult learning skills they will need throughout their life.
obstacle: figuring out how to fit everything into a small If you just try and persevere, you can do it. The sky is
rectangular box about the size of a cardboard toilet paper the limit at STEAM Maker.
roll. They also had to decide what
the best and most optimal setup
was; for example, what the best
position of the cameras would be
and the largest amount of
chromatography strips in the view of
the camera.
Mr. van Munoz and his team
had previously been at the STEAM
Maker Festival in 2016. For this year,
they had created a phototropism
experiment. Phototropism is the
orientation of a plant or other
organism either towards light or a
source of light, or away from a light
or source of light. This experiment
was created to show how plants
grow in outer space and whether or
not plants display phototropism in
microgravity.
The experiment included a
computer system that tracked the
ability a plant has to grow in
microgravity. It was launched aboard
SERVO 02.2018 43
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STEAM
Luke Rohen
A group of high schoolers engineered a robot/vehicle

T
he 2017 San Diego STEAM Maker Festival was that had to be able to shoot wiffle balls into a basket, and
great. All the booths were very interesting and whoever made the most won. I selected this booth as my
creative. The one exhibit that I liked the most was favorite because of all the effort the students put into it —
on remote control vehicles. from designing the robot platform, to building the controls
and electronic sections.
The size of the hole they had to
shoot the balls into was one foot
wide. The height of the basket was
about eight feet. One of the team
members said it took them about
three months in total to fully
complete their build.
The steps to making this robot
were not easy. First, you had to
assemble a team, then make a
proposal. After that, you would start
the build which required a ton of
materials which, in turn, required a
lot of money.
The team that I talked to said
they spent almost $1,000. They also
said that the hardest part was
figuring out the hardware. (I tried
building a simple robot before and it
was not easy.)
The final product this team
constructed turned out to be 3 x 3
feet. All of the robots had some way
to pick up the balls and shoot them
up at a 75 degree angle into the
hoop.
The team I interviewed made 10
out of 20, so they came in second
place and were very happy. There
were 10 teams in total.
The robot this one team
designed scooped up the balls, put
them into the bed of the robot, then
shot them out one by one by
pressing a button on the controller.
The design had padding around
the edges and had a compartment
for the balls. Also, the robot was
able to scoop up all 20 of the balls.
I believe this group exhibited all
the qualities of STEAM. Every part of
the build and competition included
science and technology. The robot
required lots of engineering and
math skills to make and complete.
Even art came into it when the
teams were decorating their robots
with different colors and designs.
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Science, Technology, Engineering, Art & Mathematics

Sam Benedict

T
he STEAM Maker Festival
hosts many schools, makers,
and companies that exhibit
different things such as medieval
fighting, bridges, and telescopes.
The Festival also had booths from
Drama Kids International, General
Atomics, and Microsoft, among
other companies.
One of the many booths at the
Fair was the History Battle Zone
provided by the Adrian Empire. They
showed off full metal armor,
traditional medieval garb, and an
arsenal of medieval weapons. They
hosted a booth where they had kids
shoot arrows with a soft tip at
knights in full armor. It looked so
cool, that I had to try it too. They
also had two knights in full armor
fight with each other. It was
awesome to watch. It was bordered
by a booth from the Adrian Empire.
They also sold various medieval
looking items. These booths were
fun to check out and they added a
really cool vibe to the Festival.
St. Vincent de Paul school
showed off marble rollercoasters
built on paper tracks. They also
displayed cardboard helmets with
lights on the side. Each helmet had
a different design. Good Shepard
Catholic School showed off several
different things; one item in
particular was a Galileo telescope.
They explained in great detail how
the telescope worked. Since this
was their first year at the Festival,
they also shared the challenges they
experienced in preparing their
booth.
Other schools presented things like molecule props where kids could participate in play-like activities to
representations and even a garden. The STEAM Maker give an example of the classes they present to students.
Festival does an awesome job of getting students into Even Fantasy Donkeys was there. They dress up donkeys
science. and bring them to special events. It’s kind of like hiring a
The Microsoft booth showed off different things such party clown, but with donkeys.
as their new Xbox One S and their new computers with The Festival is a great platform for companies to share
drawing screens on them. They also set up some computers their field of science in a way that interests kids and adults
that people could test out. General Atomics made liquid alike. It gives an environment for fun learning that kids can
nitrogen ice cream. It was really tasty and a lot of fun to take home with them and be inspired by. This helps kids
watch. find what really interests them which helps them with their
Drama Kids International had set up a booth with future career choice. SV
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Beginner’s Guide to
CNC Routers By Roger D. Secura

After moving into a larger house and basement, I finally decided to


design and build a desktop CNC router. I spent a lot of time
researching CNC routers online. As everyone knows, working online
late at night can suck the life out of a human faster than a vampire.
Nevertheless, I survived and finally finished building my desktop
CNC router.
If you’ve been mulling over the idea of building a planing, boring, tapping, engraving, etc.
Secondly, CNC routers are well known for their
CNC router, I should warn you the learning curve is
accuracy and repeatability. The accuracy of a CNC router
quite steep. This article is my attempt to flatten out a can fall within a few ‘thousandths’ of an inch. The
very small part of that learning curve by describing repeatability factor allows you to make 100 pieces of the
the basic hardware and software requirements for same part and have each one come out an exact copy of
building a CNC router. Later in this article, I will try to the first one. Imagine how tiring, tedious, and time-
consuming that would be using simple hand and/or power
demystify some of the concepts, terms, and tools.
operating procedures associated with CNC routers.
Although I’ll be referring to the Mach 3 CNC Where Do I Begin?
program throughout this article, the concepts and
On the software side, you’ll need three programs: CAD
procedures presented here are general enough to be (Computer Aided Design), CAM (Computer Aided
applicable to some of the more popular CNC Manufacturing), and CNC. Refer to Figure 1a.
programs. The process of designing a part for your CNC router
begins with a CAD program. Whether it’s a few wooden
gears needed to build a mechanical wall clock, robot, or an
What is a CNC Machine? anemometer, a CAD program can help you create just
A quote from www.thomasnet.com states, “CNC about any size gear pattern.
machining is a process used in the manufacturing sector Once the gear drawing is finished, you “Export” or save
that involves the use of computers to control machine tools. the 2D drawing as a “.dxf” file (ASCII text file, NOT a binary
Tools that can be controlled in this manner include lathes, file). Other file extensions can be used, but .dxf has become
mills, routers, and grinders. The CNC in CNC Machining more of a standard file format for exchanging 2D drawing
stands for Computer Numerical Control.” Other machine files between CAD and CAM software.
tools that fall under the CNC category are The next step is to open the CAM program and import
plasma/laser/water cutters, 3D printers, welders, pick and the .dxf file. The CAM software will take the file (gear
place machines, etc. pattern) and create what is known in the CNC machining
industry as a “toolpath.” A toolpath is just a series of X, Y,
In the Beginning, There Were Hand and Z movements the router’s cutting tool must follow to
make a part.
and Power Tools The next operation for the CAM software to perform is
What makes a CNC router so different from other to generate a “G-code” program file based on the toolpath
tools? First, it can perform many of the same jobs that of the gear pattern. A G-code program is a list of the X, Y,
hand and power tools do — routing, drilling, sawing, and Z toolpath coordinates the CNC software (Mach 3) uses

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downloads, go to www.servomagazine.com/index.php/magazine/issue/2018/02.

to cut out a part. G-code


programs are saved as an Figure 1.
“.nc” or “.tap” file, and
can be opened and edited
in Notepad.
Unfortunately, not all
CNC machines (routers)
can use the generic G-
code instructions put out
by the CAM software. So,
before any final G-code
files are created, you need
a “post-processor”
program to optimize
(configure) and then
generate a G-code
program specific for your
CNC machine. Most CAM
software packages include
a post-processor.
The last piece of software you’ll need to acquire and Tip #2: Laptop computer users should turn off all
learn is a CNC program. The CNC software (Mach 3, for automatic updates, antivirus programs, screensavers,
example) takes the G-code program (.nc or .tap file) from power management settings, and any other
the CAM software and converts the code into motor “background” programs which can cause an
control instructions. These instructions are transferred to a interruption of the router during its operation. If
“controller board” via a USB or ETHERNET cable (see Figure possible, use that old Win 7 laptop you have sitting
1b). The controller board, in turn, sends individual in the closet as the dedicated CNC computer.
instructions to each one of the three motor “driver” circuits.
The driver circuits control the motion of the X, Y, and Z some of the confusing terminology surrounding CNC
stepper motors mounted on the CNC router (see Figure 1c). routers and, if possible, save you from the Internet vampire.
So, on the hardware side, It’s going to get a little bumpy, so put on your seatbelt.
Tip #1: It’s important you’ll need a laptop or
that you stick to one desktop computer (Windows Down the Rabbit Hole
unit of measurement PC); a controller board with
motor driver circuity on board Okay, you’ve got an idea of what parts are required to
(mm or inches) or three individual driver build a CNC router. Now, let’s move on to some of the
throughout the whole boards; three stepper motors; more challenging stuff. This includes some of the terms
CAD/CAM/CNC and one 12 or 24 volt power you’ll need to know like: “Part Zero,” “Program Zero,”
process. supply for the controller board “Work Offset,” “Machine Zero,” “Hardware Limit Switches,”
and motors. “Software Limit Switches,” and “Homing Switches.” As you
If you’re planning on using a laptop to control your will learn, all these things work together in the setup and
CNC router, a USB or Ethernet compatible controller board safe operation of your CNC router.
will be required.
In the next section of this article, I will try to clear up Take a Look
DISCLAIMER: The author and publisher of this article What I’d like you to do now is look at Figure 2 for a
are not to be held libel for any physical injuries or minute to get yourself acquainted with the layout of a
property damage stemming from the information in this typical homebuilt CNC router. What you are looking at in
article. CNC machines, like all power tools, can be Figure 2 is a top (aerial) view of the router. In other words,
you’re looking down at the CNC router table from the Z
extremely dangerous — especially in the hands of
axis.
someone who is inexperience with the setup and
operation of a CNC router. It’s the responsibility of the Part Zero and Program Zero
CNC machine operator to know his/her machine and
practice all safety procedures. Normally, when designing a part (a wooden gear, for
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piece of wood. Normally,


Figure 2. the lower left-hand corner
of the workpiece is
designated the Work
Offset location (refer again
to Figure 2). In turn, the
CNC software will use this
Work Offset location
(corner) as the part’s
Program Zero origin point
(X = 0, Y = 0, Z = 0). This
is the location where it will
execute the gear program
(G-code) and begin the
process of cutting out the
gear pattern.
There’s just one
problem. Since you have
the option of placing the
workpiece anywhere on
the router table, how will
the CNC program (Mach 3)
“know” what location you
chose? The answer is
example) in a CAD program, the designer will designate a rather simple. All CNC machines have a Machine Zero point
point on the drawing where the X, Y, and Z coordinates are (a.k.a., “Home” position) on the table from which all other
set to 0, 0, and 0. This reference point is commonly X, Y, and Z coordinates are referenced — including Work
referred to as Part Zero. In other words, all features on the Offsets.
part drawing are referenced (i.e., measured) from a single Unlike huge and expensive industrial CNC milling
point: Part Zero (X = 0, Y = 0, Z = 0). machines that have a permanent Machine Zero location
The Part Zero location is not only important to the CAD constructed into the machine, homebuilt CNC routers and
drawing as the part’s origin, but it’s a key piece of kits usually have a user defined Machine Zero point
information for both the CAM and CNC software. somewhere on the router table. Look at Figure 2 one more
The CAM software needs the Part Zero reference point time and you’ll notice the Work Offset location (X = 4.00”,
to generate a toolpath program (G-code) for the gear Y = 3.00”, Z = -0.75”) is referenced (measured) from the
pattern. The CAM software gives you the option of using Machine Zero coordinates.
the Part Zero coordinates to create a toolpath program, or Now, don’t confuse Machine Zero with Part/Program
you can specify a new origin point. Either way, once the Zero. Machine Zero (Home) is a permanent reference point
toolpath program is generated, the origin of the part is on the router table. Part Zero, on the other hand, is the
generally referred to as Program Zero. part origin as specified on the gear drawing by the CAD
The CNC software (Mach 3), on the other hand, needs designer. Program Zero is the toolpath origin as designated
the Program Zero coordinates to position the gear pattern by the CAM software or a G-code programmer.
onto the workpiece. In other words, the Program Zero point Look at Figure 3 to see how the CAD and CAM zero
can be positioned at the center or one of the four corners origins line up with the lower left-hand corner of the
of the workpiece. Regardless of where Program Zero is workpiece. Also notice in Figure 3 how the Work Offset (X,
stationed, its main function is to “tell” the CNC software Y) — which is measured from Machine Zero — determines
where on the workpiece (wood, for example) the cutting where on the router table the lower left-hand corner of the
process should start. workpiece is positioned.

Work Offset and Machine Zero Setting Up Your “Home”


To position your workpiece (wood) at a specific location Since every X, Y, and Z position on a CNC router table
on the router table, you have to set up something called a is reference from Machine Zero, it’s always a good idea to
Work Offset. A Work Offset can be any random location on set up a Machine Zero location on your table before doing
the router table where you’ve clamped down a sacrificial anything else.
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All you need to do is pick a point


on the router table where you want
Machine Zero to be located. As
mentioned, this point is stationed in
the lower left-hand corner of your
table some distance away from your
workpiece. It’s perfectly acceptable to
choose a different location on the
router table, but it will be more
confusing to the beginner at this point
in the learning curve.
Next, using the keyboard arrow
and page up/page down keys, slowly
“jog” the X and Y axes so the center
of your cutting tool is directly over the
location you’ve chosen for Machine
Zero. Now, jog the Z axis upwards to a Figure 3.
point you’d like to call Machine Zero
for the Z axis.
Once the center of the cutting tool and the X, Y, and Z program where the first Work Offset (i.e., “G54”) is located
axes have reached their Machine Zero destinations, watch on the table in reference to Machine Zero.
the main screen in Mach 3 and you’ll see some numbers on Now when the G-code program (gear pattern) is run,
the Digital Read-Out (DRO) display. Verify that the Machine Mach 3 will look up the first Work Offset location (G54)
Coordinates button is turned on (lit red). and — starting at Machine Zero — move the cutting tool to
At this point, you “zero-out” (clear) the X, Y, and Z the first Work Offset coordinates (Program Zero location).
coordinates by hitting the “Ref All Home” button on the This is where Mach 3 will run the G-code program and
DRO display so it reads 0, 0, and 0. In turn, Mach 3 will begin cutting out the gear pattern.
recognize and remember the X, Y, and Z locations you’ve Remember, as long as your CAD software specifies Part
chosen on the router table as Machine Zero. Now, when Zero on the drawing and your CAM software or G-code
you run the gear pattern program (G-code) and it calls out
a “G28” command (go to the Home position), all three axes
will automatically move to your new Machine Zero
coordinates (X = 0, Y = 0, Z = 0).
You can also enter the G-code command G28 into the
Manual Data Input (MDI) screen in Mach 3 and it will
automatically send all three axes to the Machine Zero
position on your table.

I’m a Little “Offset”


You can set up a Work Offset in Mach 3 by clamping
down a piece of wood at a random location on your CNC
router table. Then, using the Machine Zero position as a
starting point, jog the center of the cutting tool to the
lower left-hand corner of the workpiece.
Starting at the top of the Z axis (Machine Zero),
SLOWLY move the Z axis downward so that the center of
the cutting tool barely touches the top surface (corner) of
the workpiece.
Again, looking at the DRO display on the main screen
in your software, mark down on a piece of paper the X, Y,
and Z coordinates for future reference.
At this point, you zero-out (clear) the X, Y, and Z
coordinate buttons (not the Ref All Home button) next to Figure 4.
each DRO so it reads X = 0, Y = 0, Z = 0. This tells the CNC
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programmer designates a Program Zero origin, you can Users will incorrectly think they are going to Machine Zero
place the workpiece (wood, for example) anywhere on the when the button is really sending you to a Work Offset
CNC router table just by setting up a Work Offset in your location.]
CNC software. This will send your X, Y, and Z axes to the G54 Work
In Mach 3 and most CNC programs, the first six Work Offset coordinates (X = 4.00”, Y = 3.00”, Z = -0.75”). Now,
Offsets are G54-G59. That means you can set up six pieces select the next Work Offset (G55) and hit the Go to Zero
of wood anywhere on the table and Mach 3 will know button. This time, your router will move from the G54
where each one is located. coordinates to the G55 coordinates.
For example, let’s say you wanted to make six different You can return to the Home position (Machine Zero) at
sized wooden gears. First, you’d clamp down six different any time by returning to the MDI screen and entering the
sized pieces of wood at six random locations on the router G28 command into the text box and hitting the enter key.
table (see Figure 4). For Mach 3 to find each piece of Remember, the Work Offset coordinates shown in
wood on the table, you would set up six Work Offset Figure 4a are the X, Y, and Z locations of the lower left-
locations. hand corner of each piece of wood. Also, don’t forget that
First, starting from Machine Zero, you would manually Work Offsets are always referenced (measured) from
jog (keyboard) the X, Y, and Z axes to the lower left-hand Machine Zero (Home position).
corner of the first piece of wood. Next, you would clear So, when you move the Z axis (i.e., cutting tool)
(zero out) the X, Y, and Z DRO display Figure 4a. downward towards the top surface of the workpiece, it
by hitting the X, Y, and Z buttons. This should start its descent from the
sets up the first Work Offset G54. Machine Zero position (top of the Z
Finally, you would return all three axis: Z = 0). The DRO in Mach 3 should
axes to the Machine Zero point on the display negative numbers as you lower
table, click the next Work Offset the Z axis towards the lower left-hand
button (G55, on the Offsets screen in corner of the workpiece. The Z = -0.75”
Mach 3), and then repeat the above in Figure 4a is the distance the bottom
process for the other Work Offsets edge of the cutting tool would have to
(G56-G59). travel downwards to reach the top
After you’re done, the six Work surface (corner) of the workpiece.
Offset settings might look like the WARNING! Failure to allow for
following — depending on the size of workpiece thickness or the length of
your table. We’re assuming in this the cutting tool could damage your
example that the workpiece size varies router or worse: cause you physical
(length/width), but the thickness of injury.
each piece of wood is the same (also If you change the thickness of the
see Figure 4a): workpiece(s), and/or change the
cutting tool, you MUST redo the Work
G54: X = 4 Y = 3 Z = -0.75 Offset setup procedure for the Z axis.
G55: X = 4 Y = 6 Z = -0.75 That means you send the Z axis
G56: X = 4 Y = 10 Z = -0.75 back to its Machine Zero location at
G57: X = 10 Y = 3 Z = -0.75 the top of the Z axis. Slowly move (jog)
G58: X = 10 Y = 6 Z = -0.75 the bottom edge of the cutting tool
G59: X = 10 Y = 10 Z = -0.75 downward towards the top surface
(corner) of the new workpiece. Make a
To test that all six Work Offsets are note of the negative Z value displayed
functioning correctly, go to the main on the DRO.
screen in Mach 3. Now, assuming your Finally, you zero-out (i.e., clear: Z =
CNC machine is starting at Machine 0) the Z axis on the main screen in
Zero (X = 0, Y = 0, Z = 0), the router Mach 3. Now, if you go to the Work
table is clear of any workpiece or Offset screen, you’ll see the new
clamps, and you have selected the G54 negative Z value for Work Offset G54.
Work Offset button in the Offsets Just make sure to copy the new G54
screen, hit the ‘Go to Zero’ button. Work Offset number (Z = -0.75”, for
[Author’s note: The label on this example) to Work Offsets G55, G56,
button is misleading. It should be G57, G58, and G59 — assuming all
labeled Go to W.O. (Work Offset). boards are the same thickness.
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Limit Switches
One of main reasons you need
limit switches is to protect your
machine from physical damage.
Whether it’s you or a G-code
program moving the X, Y, and Z
axes across a CNC table, crashing
into the machine’s framework is
easily done unless you set up some
travel boundaries.
There are three types of
switches you can set up on a CNC
router: hardware limit switches;
software limit switches; and homing
switches.

Hardware Limit
Switches
As mentioned, the purpose of hardware limit switches Figure 5.
is to stop the X, Y, and Z axes from accidently crashing into
the router’s framework. Hardware limit switches used on what you think should be the safe limits of your router
CNC routers are just simple single-pole-double-throw (SPDT) table (typically within an inch or so from the edges of the
normally open (N.O.) / normally closed (N.C.) snap action table).
switches (see Figure 5). You can set up the Software Limits in Mach 3 by
The minimum number for a CNC router is six switches. entering the minimum and maximum travel limits for each
Normally, you would put all six switches in series and one of the X, Y, Z axes. Mach 3 will treat the ‘min’ and
configure each one as normally closed. Two switches go on ‘max’ Software Limits for each axis as just another set of
the Y axis, a short distanced from the opposite edges of SPDT N.O. hardware limit switches.
the table (refer back to Figure 2). Two more switches are It’s important to remember that Software Limits are
mounted at both ends of the X axis. The last two switches always referenced (i.e., measured) from Machine Zero
are attached to the top and bottom of the Z axis (Home position). That means the min and max numbers
framework. can have a positive or negative value depending on where
Once installed, the limit switches can stop the router the Software Limits are in relationship to the Machine Zero
from moving anytime any one of the X, Y, or Z axes travels position.
beyond a set boundary. In other words, the hardware limit
switches set those boundaries. Tip #3: Always verify that the Soft Limits button in
Mach 3 is turned on (lit green) before you start any
Software Limit Switches cutting operation. Put this on your “Pre-Flight”
As a second “wall-of-defense” to the hardware limit checklist. This will help protect you and your CNC
switches, we employ a different set of switches: software router.
limit switches. They do exactly what hardware limit switches
do, except they are set up inside a CNC program (Mach 3). Homing Switches
Notice back in Figure 2 that the Soft Limit line (dotted
line boundary) is positioned in front of all the SPDT Finally, we come to Homing Switches. These too are
hardware limit switches. If any one of the three axes SPDT mechanical switches. They are mounted onto the
crosses a Soft Limit boundary line, it will trip a “switch” in router’s frame not to set a boundary for any X, Y, and Z
Mach 3, forcing it to stop the router in its tracks. This setup axis movement, but to consistently and accurately find one
helps to protect your router from damage should you or a particular location on the table: Machine Zero (i.e., Home
G-code program accidently move any one of the three axes position).
too close to the hardware limit switches. Some CNC operators prefer a more consistent and
In other words, soft limit switches act like a buffer to accurate way of finding Machine Zero. They set up their
the hardware versions. The soft switches also “tell” Mach 3 homing switches on the CNC router by picking a spot
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for a cutting tool. Just twist the toothpick into


one end of a new pencil eraser as shown in
Figure 6 and Figure 7. This will allow you to
“play” with your X, Y, and Z axes and see if
you really know what you are doing without
damaging your machine or injuring yourself.
The sharp end of the toothpick will also help
to pinpoint all the important locations on your
table (Machine Zero, Work Offsets, etc.).
• Run a CAM Simulator program that
employs animation to show you how the gear
will be routed on your CNC router. This will
give you a chance to see on a computer screen
if the gear program (G-code) has any routing
problems. Some CAM programs have this
feature. Mach 3 also has a rudimentary
toolpath simulation feature.
• Run your gear program (G-code) in
Mach 3 without anything inserted into the
collet (chuck). In other words, turn off your
spindle motor and let your router do a dry run
(i.e., “cut air”). As the gear program runs,
watch the collet and see if it looks like it’s
following the gear pattern as it moves through
the air above your workpiece (wood).

Stop It!
All CNC machines (mills, routers, lathes,
etc.) come equipped with a big red emergency
Figure 6. Figure 7. stop button (E-Stop). So should yours! Remember, if this is
your first experience with CNC routers, ALWAYS keep a
somewhere on the router table and designating it Machine finger on the E-Stop button when your CNC router is in
Zero (Figure 2). Next, they jog all three of the router’s axes operation, just in case something unexpected happens.
to the chosen location. This is where they mount three
SPDT switches (X, Y, and Z) onto the router’s framework. Tip #4: SET STEPS PER UNIT! It’s extremely important
It should be noted here that homing switches are not a that you calibrate your router so that when Mach 3
mandatory requirement in order to operate a CNC router. “says” it moved the X axis one inch on the DRO
However, since all X, Y, and Z coordinates are referenced display, it has actually physically moved the X axis
from Machine Zero, it might be important to you to have a one inch on the router table.
more permanent Machine Zero location on your table.
All you need is a ruler (1/32”) to calibrate your
Danger, Will Robinson! machine. One axis at a time, you position (jog) the X, Y,
and Z axes to the edge of the ruler. If you go to the
I feel obligated to warn all the beginners out there who Settings tab in Mach 3, you’ll find the ‘Set Steps per Unit’
plan to build or purchase a CNC router. It is imperative that button. Just follow the prompts and Mach 3 will guide you
you DO NOT insert any cutting tool (bit) into your new CNC through the process.
router UNTIL you are completely satisfied you understand
how to set up and operate your machine. Your inexperience The Finish Line
with CNC routers can damage your machine and/or cause
you physical harm. I barely scratched the surface of what you need to
Here are three steps I suggest you follow for your own know about CNC routers. I hope you learned something in
safety: this article that you can use with your new CNC router.

• To be safe, take a toothpick and use it as a substitute Stay safe! SV


52 SERVO 02.2018
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Ultrasonic By Dan Harres

To post comments on this article


and find any associated files

Radar and/or downloads, go to


www.servomagazine.com/index.
php/magazine/issue/2018/02.

Refresher

Robots commonly performing obstacle detection rely on active


sensing. That is, they project energy of some type — whether light,
RF, or acoustic — in the direction of the possible target and measure
the reflected energy returned to a receiver.

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Ultrasonic Radar
several GHz. Let’s break that down a little more.
Acoustic propagation refers to the transmission of
sound through changes in the pressure levels as the
energy travels through some type of medium such as
air or water (we’ll concentrate on air).
It travels through the air at the speed of sound,
which is on the order of 343 meters per second at
standard temperature and pressure (20°C at sea level).
To illustrate what is meant by frequency, we can
use the example of a piano. You know that the keys
at the extreme left of an acoustic piano are referred
to as the “low notes.” Their very deep bass tone is the
result of the metal strings that the associated
hammers strike, causing them to oscillate at “low
frequencies.”
This means the string vibrates from peak to peak
a very small number of times per second. The lowest
of a concert piano’s notes are vibrations that oscillate
only about 30 times per second; these are referred to
as 30 Hz.
At the extreme right side of the piano keyboard
Figure 1. Swinging requires the use of resonance. are the “high notes.” These notes have strings that —
when struck with the associated hammer inside the
piano — vibrate at frequencies as high as 4,000 times per
et’s discuss ultrasonic methods for object second (4,000 Hz).

L detection by going over some


fundamentals. We’ll start by talking
about the general situation of detecting objects.
People with normal hearing can detect the entire
range of piano notes, and some folks can even detect
frequencies as high as 20,000 Hz.
Beyond this frequency of 20,000 Hz, humans do not
Humans (and some machines) use vision and to a hear the sound (many animals, however, have hearing to
lesser extent hearing to avoid collisions or otherwise frequencies far beyond this limit). Because the sound
detect objects in their path. In that case, the system is cannot be heard by humans, it’s possible to propagate
using passive light energy or passive acoustic energy to considerable energy at these frequencies without annoying
detect objects. people or otherwise interfering with their normal activities.
Most machines performing obstacle detection rely on
active sensing. That is, they project energy of some type — Creating Ultrasonic
whether light, RF, or acoustic — in the direction of the
possible target and measure the reflected energy returned
Energy
to a receiver. So, how do we create ultrasonic waves? Typically, this
When the energy is in the RF region of the is done with a transducer, which takes electrical energy
electromagnetic spectrum, this type of system is called modulated at the appropriate frequency and converts this
RADAR (RAdio Detection And Ranging). The term radar is to mechanical energy that moves a surface, creating the
also sometimes used when the energy is in the light part acoustic propagation.
of the electromagnetic spectrum; in this case, it’s A common type of hobbyist ultrasonic transmitter is a
sometimes called LIDAR (LIght Detection And Ranging) or piezoelectric ceramic transducer, typically operating at 40
LADAR (LAser Detection And Ranging). kHz. Such a piezoelectric device has the unusual property
When the energy is in the ultrasonic region of the that it expands or contracts as the voltage across it
acoustic spectrum, the term “ultrasonic radar” is used. increases or decreases.
That’s what we’ll be talking about here. Therefore, by driving it with an AC voltage, the
device’s surface in a particular axis moves with respect to
Just What is Ultrasonic the opposite surface.
Such a device can be made to change its dimensions
Energy? at 40 kHz and above. In addition, the device can be
Ultrasound is acoustic energy propagated at manufactured so that it is “resonant” at a specific
frequencies above human hearing; generally 20 kHz to frequency.
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mechanical transformation can be used to do the


How Does Resonance opposite. When piezoelectric devices are subjected to
Work external force, the device generates a voltage which can
be amplified and detected.
In order to understand piezoelectric ultrasonic devices, In fact, some applications use a single transducer in a
we need to understand resonance. Lasers, microwave half-duplex mode to transmit a sequence of pulses and
ovens, that squeal your car makes burning out causing the then “listen” for the return of those pulses (such a circuit
neighbors to stare — these are all examples of resonance. will be discussed later in this series).
One example that we’re all familiar with is a child Most applications use separate transducers for
swinging (Figure 1). transmit and receive. Although the force to which the
A child merely pushing with their feet from a starting piezoelectric transducer receiving the acoustic wave is
position causes the swing to move only slightly. To make small and the associated output voltage is low amplitude,
the swing move great distances requires the child “to an amplifier with sufficient gain raises the amplitude to a
swing.” What this really means is that the child must learn useable level.
to move the lower legs forward or backward in synchrony
with the swing’s movement. Ultrasonic Ranging
When the swing reaches its backward-moving limit,
the child rapidly rotates the lower legs forward and, Simple radar applications use Time-of-Flight (TOF) to
likewise, at the forward-moving limit, the lower legs are determine distance to an object. This is a fairly
quickly moved back. In this way, additional energy is straightforward calculation. In the case of ultrasonics, the
imparted to the swing with each iteration, resulting in a wavefront travels to the object, then back to the ultrasonic
large steady-state “amplitude.” receiver, at the speed of sound. So the distance is simply
Before we leave this resonance example, let’s think given by:
about one more aspect of the situation that is typical of all
c(TOF)
such resonant systems. D=
The system (in this case, the child and the swing) has 2
a natural frequency at which it operates. The swing and
the child, in fact, constitute a pendulum. The natural where D is the distance and c is the speed of sound (343
frequency of this system depends only on the length of meters per second).
the swing chains. Unfortunately, the calculation is muddied a bit by the
In the case of a piezoelectric device, the device’s fact that it may not be exactly clear how to make the TOF
natural frequency is determined by its dimensions and the measurement.
device material. Consider the situation when a voltage is Figure 2 shows typical transmit and receive
generated across the device. waveforms for an ultrasonic transducer. We reasonably
The wall of the device moves, creating a wavefront choose the start of the transmit signal as the beginning of
that moves through the device, striking the opposite wall the time-of-flight, but where should we choose to say
of the device, then heading back to the originating
wall. This roundtrip time of travel constitutes the
period of the natural frequency.
If we vary the voltage across the device at this
natural frequency, we create a resonant behavior
within the device, much like the child on the swing.
After several periods of such voltage change, the
amplitude of the wall movement (and therefore the
transmitted sound) becomes relatively large.

Sensing Ultrasonic
Energy
Okay, so a piezoelectric transducer can convert
electrical energy into mechanical energy and
thereby allow us to create ultrasonic pulses. But
how can we sense ultrasonic energy?
It turns out that the same type of piezoelectric
transducer that was used for electrical-to- Figure 2. Transmit and receive signals.

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clutter, a return signal that falls off rapidly with distance,


and transmitter ringdown.

Clutter
Clutter is a potential problem in any radar application,
but particularly a problem with ultrasonic applications
because of the wide field of view (FOV) of the ultrasonic
devices.
Figure 3 shows a directivity graph that is similar to
the charts for most ultrasonic transmitters. The figure
shows that the transmitter still has about 1/10 its power
at ±30° from boresight.
Such a large FOV means that the device can “see” not
only pertinent objects in front of it but also irrelevant
objects far from the robot.
In fact, the ultrasonic response shown back in Figure
2 is an example of this. In that particular application, the
transmitter/receiver was mounted about four feet above
the floor.
Figure 3. Directivity graph for a typical It was pointed directly at a target about five feet away
ultrasonic transmitter. (the second of the two largest responses).
A fluorescent light fixture hanging from the ceiling a
time-of-flight ends? Perhaps we should use the start of the couple of feet above the transmitter/receiver was actually
reflected waveform. Or, the peak. causing the first large response. The transmitter/receiver
responded to this light fixture because it was within its
Issues with Ultrasonic field of view.
Such “false alarms” reduce the reliability of the
Detection ultrasonic sensor’s results and often lead to the conclusion
We’ve already mentioned the ambiguity in that ultrasonic sensors make poor ranging devices.
determining TOF, but this is a relatively minor issue, since
it generally results in an uncertainty of less than an inch Ringdown
which — for many hobbyist robot applications — is
tolerable. Another problem plaguing ultrasonic transmitters is
Other issues, however, are more serious. These include
the fact that they cannot immediately stop their
movement when the voltage stops changing.
This is related to their resonant nature. Just as
a child swinging cannot immediately stop but must
instead let the swing slowly lose energy, the piezo
transmitter must likewise slowly stop its movement.
Figure 4 shows an ultrasonic transducer
subjected to a 0 to 30V square wave and then —
mid-screen — switched to a high-impedance
connection. The transmitter continues to oscillate,
generating voltage as it slowly “winds down.”
The reason this is important is that ultrasonic
receivers often have a difficult time distinguishing
between the signal produced by ringdown and an
actual return from a very close object.
As a result, most ultrasonic receivers establish
a “dead time” during which the receiver does not
attempt to identify targets. Thus, most ultrasonic
sensor systems cannot identify objects that are very
Figure 4. Transmitter subjected to 16 periods of close.
square wave showing ringdown.

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Ultrasonic Radar
Significant Thus, if the return from the
Signal target at a two foot distance is
S, at twice that distance (four
Attenuation feet) the signal will be down to
with Distance S/16.
It’s easy to see that a return
A signal sent through the signal that is a relatively large
air will diminish as a function of amplitude one or two feet away
distance. So, just how fast will may require a huge gain
the ultrasonic signal diminish? increase or other non-trivial
We’ll ignore acoustic absorption Figure 5. Ultrasonic transmission and processing method to be reliably
signal return.
of air since this is a relatively recognized at, say, 10 feet.
minor effect at distances of a
few feet, and instead just concentrate on signal Final Thoughts
attenuation as the result of wavefront expansion.
Figure 5 depicts what is happening. We know that With all of these problems, it’s not surprising that
the wavefront expands in both dimensions normal to the hobbyists sometimes find using ultrasonic devices
transmission axis. So, the signal is proportional to (1/r2), frustrating. Fortunately, these issues can be solved with
where r is the distance from the transducer. some basic understanding about how they function,
Once the wavefront hits the target, it’s dispersed by making them a popular choice for obstacle detection and
the target and similarly expands, also resulting in a avoidance in robotic applications. SV
decrease in signal as a function of r2. So, the signal
experiences a 1/r4 overall reduction.

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Robots in Our
Lives
by Tom Carroll TWCarroll@aol.com

The Seattle Robotics Society had an interesting discussion recently at one of our meetings on
the roles of robots in our lives, led by Steve Kaehler. As he mentioned, they can be companions,
assistants, protectors, pets, and entertainers, as well as be used in numerous other
applications. Though I write about all varieties of robots, it is the personal robot that most of us
are most interested in — myself included.

or those of us who in factories and various


F don’t yet own a robot
for our house, it certainly is
industries, employed in
different tasks that we
at the top of our wish list; rarely get to see being
either as one that we build performed.
from scratch or buy from a Robotics is said to be
retailer. However (and a big the next technological
however at that!), are the revolution, and many
home robots on today’s writers tout the future of
market truly what we’ve robotics in glowing terms
always envisioned as a (myself included). Placing
personal companion robot? all the other robot
Gene DeMaitre, Editor of applications such as
Robotics Business Review military, industrial, and
made an interesting other non-personal
comment two years ago in Figure 1. The Jetson's Rosie the Robot maid from the 1962 TV series. applications aside, just
his article, entitled: When what is the future for the
Will Robots Become as Common as extrapolated 100 years into the future personal robot?
Smartphones? He stated: “Current as the robots of 1962 had barely Those of us who are interested in
home robots are still playing catch-up made an entry into the factory the various applications of robots have
to Rosie the Robot” (Figure 1). environment, and were decades away invariably seen many more types of
DeMaitre was referring to a “Robots from becoming commonplace in the robots at exhibitions, universities, and
Come Home” session at the 2016 home. robotics groups. The personal space
Consumer Electronics Show. Even today, we have been that we call home is very different
surrounded by robots for decades, but than any other robot operating arena
The Future of the most of these have been tucked away and requires a very special type of
Home Robot Figure 2. iRobot Roomba history.
When cartoonists
envisioned the future
back in the ‘60s, they
clearly saw robots as
part of the family. In the
1962 TV cartoon series,
The Jetsons, Rosie
showed just how great
of a robot companion
she could be in the year
2062. The writers of
that TV series wisely
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To post comments on this article and find any


associated files and/or downloads, go to
g{xÇ tÇw aÉã
www.servomagazine.com/index.php/magazine/issue/2018/02.

robot to maneuver in an ever- ago, Bill Gates wrote an intriguing


changing environment. article in Scientific American
entitled: A Robot in Every Home.
The Annual Gates is really not a robotics
engineer, but his extensive
Consumer business and technical
Electronics Show background keeps him abreast of
No matter how many types all categories of technology and
of robots make their public debut computers.
at the International Consumer He looked to talented and
Electronics Show (CES) in Las knowledgeable people to keep
Vegas every January, it is the him informed when writing the
robot designed for the home that article. Gates had earlier tapped
Figure 3. Neato BotVac D7 Connected.
draws the biggest crowds. one of his senior executives at
Unfortunately, a lot of the Microsoft, Tandy Trower, to form
journalists at CES and similar pasture (a strictly random pattern), a robotics group in the company in
exhibitions have some vague ideas and sometimes missed areas of carpet 2005. In June 2006, Trower and his
about electronics for entertainment completely. team brought forth a robotics
but do not have a clue about robotics A newer robot vacuum cleaner development package called Microsoft
and the different robots on display. company, Neato Robotics came on the Robotics Studio, and later in 2008, the
You can tell by how they talk scene in 2010 with what was later to Microsoft Robotics Developer Studio.
about them: “cute,” “cuddly,” be called the Neato BotVac. Their In the beginning of his article, he
“adorable,” etc. Fortunately, other latest BotVac D7 Connected is shown outlined the rapid growth of
types of robots available on the in Figure 3. It uses a new type of microprocessor-based computers and
marketplace have found a place in our navigation called SLAM (Simultaneous the initial struggle people had to
homes. Localization And Mapping) that figure out what this new technology
employs a rotating laser LIDAR to map was good for. He made this statement
iRobot Leads the Way a room that is shown on a about robotics: “What I really have in
smartphone in the figure. They now mind is something much more
for Robots to Enter have a series of 15 different cleaners. contemporary: the emergence of the
Today’s Home Many robot hobbyists and robotics industry, which is developing
Outside of toys, the one robot experimenters have used the same in much the same way that the
that has made the greatest LIDAR module shown in Figure 4, computer business did 30 years ago.”
penetration into private homes is the sold separately by suppliers or hacked He also looked at people’s view of
vacuum cleaner robot, with the from a Neato vacuum for navigation robots, or what they felt robots
popular iRobot Roomba at the top of in mobile robots. should be and made a correct
the list with $15 million in sales. I believe this new but affordable observation. “... we have a long way
Figure 2 shows a chart of the history LIDAR technology has led the way for to go before real robots catch up with
of iRobot’s products, with the more capable mobile robots in the their science-fiction counterparts. One
Roomba vacuum cleaner a huge home environment. MEMS micro- reason for this gap is that it has been
chunk of their sales income. motion sensors, ‘time-of-
iRobot’s management began their flight’ laser distance
product designs with toys, and also sensors, and some
considered industrial floor cleaning incredible image recognition
machines, but it was their Roomba cameras have joined
series that hit it off with the public. inexpensive LIDAR units to
Yes, it was the early adopters who allow robot experimenters
bought the first robot vacuum to design and build some
cleaners, but their interest spread to amazing robots for the
millions of other eventual users. home. More on that later.
The first robot vacuum cleaners
were as good as any other of the A Robot in
growing competition, but people
commented they cleaned floors in a Every Home
manner similar to sheep grazing in a Just about 10 years Figure 4. Neato LIDAR laser rangefinder.

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much harder than expected to in the much larger group of


enable computers and robots to consumer and home personal
sense their surrounding robots. This type of robot has been
environment and to react quickly fairly straightforward to design and
and accurately.” market due to their relative
Today’s home robots seem to simplicity to construct.
be popular more for their simplicity iRobot, Neato, and other robot
of use than functionality. vacuum cleaner manufacturers did
not have to add complex arms,
Personal Robots speech recognition systems, and
associated software to produce a
I believe Gates was a bit off in desirable product for the home
his evaluation of the robotics consumer. iRobot did branch out
industry: “ ... which is developing in and produce a series of successful
much the same way that the ground robots for the military, as
computer business did 30 years well as pool and gutter cleaning
ago.” As much as we might wish robots for the homeowner as
that was true, the mechanical, shown in Figure 2.
power sources, and sensor aspects
of robotics has held its development What Qualities and
back and has frustrated many robot
developers. Appearance Should
Safety aspects are one issue. a Personal Robot
One does not have to fear that Have?
their computer will fall down the
Figure 5. Early Icelandic settler robot in
stairs and hurt somebody, or their Reykjavik Museum. Looking at this very basic
keyboard keys will pinch someone. design issue, should personal
A mobile machine that interacts with single purpose since this seems to be robots look and sound like us?
a human can be dangerous if poorly the best way in which to enter the In 2062, Rosie the Robot rolled
designed and/or constructed, or used robot manufacturing business. around on what looked like a single
incorrectly. Vacuum cleaner robots fall into the three-wheeled roller skate and had
Most personal robots have a category of ‘single-purpose’ — robots silly antennas sticking out the sides of
her head that made her look
more like a 1942 robot. Looking
back at Figure 1, Rosie did have
two arms and for one reason or
another, ‘she’ had a third arm
that popped out of a little trap
door in her chest to sweep up
trash from a floor. (These days, a
Roomba would pop out.)
How do homeowners feel
about the actual look of a
potential personal robot for the
home? Do they have to look
human, even a little bit? People
are many times taken aback and
startled when they see a robotic
creation that looks very much like
a human. The term ‘Uncanny
Valley’ describes an almost creepy
feel that robots can give us by
their sheer looks.
My wife and I visited a
Figure 6. Where's WALL-E among these 200 movie and TV robot characters? museum in Reykjavik, Iceland
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several years ago where motors and control
they were depicting the systems. The new cobots
early settlement of the (collaborative robots) are
country. There was a closer aligned to a home
figure of a man (shown robot with the ability to
in Figure 5) who was so work alongside a human,
realistic that it startled and compliance in their
my wife, Sue. “He’s real, arms makes for a safer
Tom! His chest is moving robot. A cobot such as
in and out as he Baxter made by Rethink
breathes. He’s an actor Robotics (and shown in
standing there.” It was Figure 8) is a safe robot
moving, but he was just design. Rod Brooks, one
a very well-made robot in of the original co-
the world-class Perlan founders of iRobot left to
Figure 7. Bruce Dern with Silent Running drones Dewey (1) and Huey (2)
Museum built into part of after Louie was lost. co-found a new company
a huge hot-water tank with Ann Whittaker. They
that was no longer used. human shapes and characteristics. had this new idea about affordable
Artist Richard Sargent took a bit Some of the most recent ‘home’ industrial robots that didn’t need to
of artistic license with the whimsical robots have taken non-humanoid be separated from humans with a
collage in Figure 6 using the popular shapes. cage or fence.
‘Where’s Waldo?’ series for the search
of Disney character WALL-E: a Comparing Industrial The Home Robot of
garbage-collecting robot stranded on
a future polluted Earth where the Robots with Personal Today and Into the
remaining humans had escaped to an Home Robots Future
orbiting space station. WALL-E is The average person (even those I’ve mentioned some quirky
inserted within about 200 robotic with an extreme interest in robot points about robots, touched on some
characters from films and television building) might assume that a typical unique ideas that people have about a
shows. industrial robot is more advanced and robot in the home, and compared
You will enjoy looking at all the has many more capabilities than a some features of industrial and mobile
vastly different robots in the scene. simple robot for the home. Yes, they home robots. We all are experiencing
Just imagine how many other forms are more expensive, but the costs are robots in our lives in several different
and shapes will be sketched by for extreme rigidity, accuracy in ways, but what type of robot can
prospective robot developers in the repetitive motion, reliability over many serve us best in our homes? The
search for the ultimate personal home hours of operation, and expensive reason that single-purpose home
robot. (Sargent’s collage robot designs rule in the
is available as a poster market place is that more
size on the Internet if complex robots are vastly
you’d like to get one for more difficult to develop.
yourself.) Robots in Hold out your hand
earlier science fiction and look at its
movies were almost complexity. I’m not just
always human-sized talking about the
variations until the 1971 opposable thumb and
film, Silent Running four fingers. Consider all
presented Huey, Dewey, the many axes of motion
and Louie (Figure 7): the that allow you to move
cute little service drones your hand, and how
for the doomed space powerful the grip is.
ship, Valley Forge. Think about how simple
Later, Star Wars’ R2- it is to flip a quarter back
D2 became an immediate and forth over the top of
hit. Soon, most robots your fingers or twiddle a
began to take on non- Figure 8. Rethink Robotics' Baxter collaborative robot. ball-point pen while
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example, look to Jibo


as an entertaining
social robot.

Mobile
Home
Robots
Looking at
mobile home robots
(ones that actually
move around the
floor), most of the
newer and existing
home robots can
Figure 10. Kuri home robot by Mayfield Robotics.
rove around and
look very cute like
the Kuri robot shown
Figure 9. Artist's Impression of robots complexities that go into a real robot. in Figure 10. Made by Mayfield
fighting for combat robot book cover. When Pete Miles and I wrote Robotics in Redwood City, CA (a
Build Your Own Combat Robot back Bosch company), this charming little
you’re thinking about something. Hold in 2002, I complained that the cover guy is quite capable technically, but
a thread and place it into the tiny eye picture with a whirling saw blade on still just a small robot with a nodding
of a needle. the end of a pencil-thick rod would be and turning head.
Now, add your two arms and impossible. My request was ignored Kuri doesn’t have any sort of
extend each of your very unique because it was the combat action of functional arms, and uses ‘hands’ or
hands in wide arcs of motion. Our the saw and giant pickaxe with the claws. He seems to be quite a bit like
body’s arms and hands are far sparks flying (as seen in Figure 9) that the Echo and Jibo in that their main
stronger and far more dexterous than was wanted — not realism. That way features are they verbally and audibly
the most amazing humanoid robot in of thinking still exists in so many ways communicate with humans.
existence. Yes, some one-ton industrial about how technical products are Nonetheless, it still is a great little
robots can handle several hundred- designed. robot for $700.
pound payloads, but not even a
humanoid the size of Baxter can Desired Capabilities More Features for
traverse a home with the strength and
dexterity of a human. of a Home Robot Today’s Home Robots
Back in Figure 5, you saw almost As I suggested earlier, robots will
Where is Complexity 200 different movie robots and none need more than cuteness and
were that close to another in advanced social and verbal
Needed in a Home appearance. Everyone’s idea of a communication skills to function as a
Robot? robot is certainly different from true home service and companion
Looking again at the simple anybody else’s preferred external robot; a robot may also need
cartoon of Rosie, we can see that she appearances and internal functional manipulative skills to assist a person.
has a single axis of motion at the design. That certainly holds true for Take a look at the Paro robot
shoulder and the same at the elbow, the home robots on the market today. baby harp seal shown in Figure 11. It
and a simple claw for a hand on each Consider Cynthia Breazeal’s Jibo that has been around for over a decade
of the two arms. Is that all we really is now on the market after three long and costs almost $6,000, but it’s
need for a home robot to manipulate years of waiting. specially designed to be a companion
objects around a house? Pronounced jee-bo, this robot is for patients with dementia. It has
I apologize for picking on old touted as an intelligent personal voice recognition and sensors to feel
Rosie, but I just wanted to make a assistant; Jibo has a movable body to petting and rubbing. With just a few
point. Her depiction is what a typical reflect motions as ‘he’ talks, though it flipper, head, and body movements,
non-technical person would imagine a does not actually move across a its main purpose is to soothe a
robot to be. People want to be surface. If you already have an person, not act as an active toy.
entertained and don’t care about the Amazon Echo digital assistant, for At $6K, you are not going to find

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Paro at Toys R Us. People have (degrees of freedom) arms to
argued that robots like Paro maneuver the hands into the
provide an illusion of a right positions to perform useful
relationship, and those who find tasks.
human relationships challenging Remember my description of
may turn to robots for our human hand versus a typical
companionship instead. robot’s hand? Do we need the
small finger manipulations that
Communications humans can attain, or will a
simpler and much less expensive
with a Personal manipulator arm suffice?
Home Robot As you can imagine, typical
Kuri, Google Home, Jibo, Figure 11A. Paro, the baby harp seal therapeutic robot model-aircraft types of servos
Amazon’s Alexa assistant, and with a patient. only have a limited amount of
even fluffy Paro all have torque, and when longer
microphones and some arm segments and fingers
have speech recognition, are moved by the small
and other home robots servos (even with the
even have facial recognition largest ones that an
to say “hello” to their experimenter can find), you
owner upon arriving home. will not equal the strength
In what other manner can of an equivalent human
we humans communicate arm/hand.
with others, or even with To equate a human’s
robot companions? How capabilities, robot
about with gestures that developers designing a
are the most innate personal assistant robot for
language of all mammals. the marketplace will either
just live with the weaker
Useful Robot appendages on their robot
or come up with far more
Arms and Figure 11B. Paro, the baby harp seal therapeutic robot. capable motors systems.
Hand/Claws/
Pincers/Grippers at Amazon for $130 a pair) might be Robot Vision
the answer.
A capable personal assistant The right and left set would make Toy robots (and even Rosie) only
robot designed to serve our physical a great addition to a personal robot; need light bulbs or red LEDs for eyes,
needs (such as retrieving needed all you need is a set of 4-DOF but we know that these will never
items) will need a bit more than serve as real vision for robots.
simple verbal and visual My early builds used CdS
recognition skills. Not only will (Cadmium Sulfide) photo-
the robot need to recognize resistive cells that basically were
certain objects, it will require one pixel each. They could
the physical means to grasp and detect the presence or absence
move the object to another of light only. Even line follower
location. This means a gripper robots might have a row of
on the end of an arm of phototransistor sensors to
sufficient strength, length, and determine the black pathway
manipulative capability. that the robot must follow.
A simple two-part gripper When we get into pattern
may suffice, but more than recognition that I mentioned
likely a three to five fingered earlier — especially facial
gripper will be the better recognition — we need multi-
option. The servo-driven hands thousand pixel cameras and
Figure 12. Dual five-finger robot hands are available at many
shown in Figure 12 (available sites on the Internet. intelligent processing.
SERVO 02.2018 63
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Figure 13. Intel Euclid with RealSense Depth camera.

The Carnegie Mellon CMU Cam


was and still is a good robot camera, Figure 14. nVidia Jetson Development kit.
and there are many nice digital
cameras on the market for less than supercomputer processing. The Jetson that surpass today’s lithium-ion
$20 that can interface with a Parallax TK-1 is a very affordable processing batteries are on the horizon.
Propeller, Arduino, Raspberry Pi, or board for advanced mobile robot I do believe that it’s the
whatever microcontroller you use. One hobbyists as well as robotics mechanisms that need to be greatly
very nice robot camera system on the researchers. improved to allow a home robot the
market is the Intel Euclid Developer’s capability to manipulate objects and
Kit shown in Figure 13. Final Thoughts even physically assist persons for
The Euclid features the RealSense whatever reasons.
camera coupled with an Intel Atom I began this article, not to The HuiHui shown in Figure 15 is
quad-core CPU with pre-installed necessarily instruct readers on how to an assistive robot from China that was
Ubuntu and ROS operating systems. build a capable personal assistant first introduced in 2010. It’s a great
This is a very capable $289 home robot, but to enlighten folks on start at a home robot, but the
camera/processing system; you can what progress has been made to complexity of the arm and hand
read all the details online that are too bring us closer to a truly functional mechanisms dictates some complex
numerous for me to list. Go to the robot to assist us (and the elderly) in machining in the production of the
Intel site for more information. our homes. We now have
Another very unique and sensors (for example, the
powerful robot vision system that I many very inexpensive
described a few months ago is the MEMS sensors) that have
nVidia Jetson Development Kit become available to robot
available for under $200 (Figure 14). builders.
You can read more about how MIT The Intel Euclid and
grad students created some very nVidia intelligent cameras
capable mobile robots on the nVidia and vision processing boards
site or my previous article. As I have made robot vision
mentioned in my article, nVidia has infinitely more capable than
long been known for top-of-the-line a pair of red light bulbs or
graphics processors that are the key to CdS photo sensors. Batteries Figure 15. Chinese HuiHui robot with complex arm
many video game consoles, as well as with sufficient power density mechanisms.

For the finest in robots, COMPONENT


COMPONENT LEDs
parts, and services, go to LED BULBS
LED Lighting for Everything ACCENT
LED ACCENT LIGHTS
www.servomagazine.
com and click on 



 

Robo-Links.








)

64 SERVO 02.2018
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g{xÇ tÇw aÉã


robot. The humanoid robot’s ‘innards’ In the January 2018 issue of SERVO, the
shown in Figure 16 is the iCub, incorrect Advertiser Index was run in the
another very mechanically complex print magazine. It was the December
robot. 2017 version, instead of the new one for
Both robots come close to being January. Here is a corrected index for
January 2018. We apologize for any
useful within a home as an assistant inconvenience.
robot, but are far too expensive for Actuonix Motion Devices ......................10
the average homeowner. All Electronics Corp. ........................32, 65
I’ve studied assistive robots for ExpressPCB .............................................45
decades, and the robotics community Hitec ...........................................................2
will ultimately succeed in producing a PanaVise ..................................................41
Pololu ........................................Back Cover
very capable personal home robot. SDP/SI .....................................................32
Hopefully, one of you readers will ServoCity ...........................................65, 67
be on that team of roboticists. SV Tormach .....................................................7

Actuonix Motion Devices .......................30 PanaVise ....................................................12


All Electronics Corp. ................................13 Pololu .........................................Back Cover
ExpressPCB ...............................................35 Super Bright LEDs ....................................64
Front Panel Express ..................................39 Tormach ....................................................11
Hitec ............................................................2
IR Robot Co. .............................................39
Advertiser Index
M.E. Labs ..................................................30
Figure 16. iCub robot innards.

SERVO 02.2018 65
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The SERVO Webstore


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SV Webstore - Feb 18_SV Webstore May 16 working.qxd 1/3/2018 2:47 PM Page 67

Order online
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PROJECTS
The SERVO Buddy Kit 3D LED Cube Kit PS2 Servomotor Controller Kit
From the
article “Build
the 3D LED
Matrix Cube”
as seen in the
August 2011
issue of
Nuts & Volts Magazine.
An inexpensive circuit you can build to This kit accompanied with your own
control a servo without a microcontroller. This kit shows you how to build a really PlayStation controller will allow you to
cool 3D cube with a 4 x 4 x 4 control up to six servomotors.
For more information, monochromatic LED matrix which has a Includes all components and
please check out the total of 64 LEDs. The preprogrammed instruction manual.
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or go to the that will automatically play with a runtime February 2011
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SERVO 02.2018 67
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Finding the right parts for your robot can be difficult, but you also don’t want to spend all
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Find out more at www.pololu.com

Full Page.indd 68 1/3/2018 4:51:40 PM

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