Download 2 Reference Design

Reference System Design - RobotShop
Table of Contents
Introduction ................................................................................................................................ 2
Parts and Cost ........................................................................................................................... 2
Microcontroller ........................................................................................................................ 3
Actuators and Sensors ........................................................................................................... 4
Chassis and Powertrain .......................................................................................................... 5
Battery Power ......................................................................................................................... 7
Motor Shield ........................................................................................................................... 8
Scan Platform ......................................................................................................................... 9
Solderless Breadboard ..........................................................................................................10
Ties and Velcro .....................................................................................................................12
Camera .................................................................................................................................12
Miscellaneous Items ..............................................................................................................13
Summary ...............................................................................................................................14
Introduction
Reference design refers to a technical blueprint of a system that is intended for others to copy. It
contains the essential elements of the system; however, third parties may enhance or modify
the design as required.
en.wikipedia.org/wiki/Reference_design
While alternative designs make compromises in order to come in at the lowest price, the
RobotShop design makes no such compromises and instead strives for a simple, highly reliable
design solution.
The Robot Shop's RB-rbo 13, track driven vehicle has been successfully used in the S’10
(Ironclad), F’10 (Ironrad), and S’11 (Gyroneers, PITA, CompassRawesome) semesters. This
reference design comes complete with its own build document.
Parts and Cost
Below is a pretty straightforward table as to all of the hardware components which comprise the
reference design. To the right of the article, there's a link where you can find the component and
even further right, is the cost of that item. Note that these prices do not include tax, nor shipping
and handling (which should seriously be taken into consideration... seriously).
Microcontroller
Item
Source
Cost
Arduino Uno
Adafruit
Polulu
$30.00 (not
included in the
total)
USB 2.0 A To B Cable
RadioShack
$3.99 (not
included in the
total)
9v DC Power Adapter
● Rated for a minimum of 250mA current
output, 500mA to 1A output recommended
● 2.1mm "centre positive" power
Amazon
NKC
$6.45
Actuators and Sensors
Stepper Motor: Nema 14 Bipolar, 200 Steps/Rev, 35x26mm, 7.4V, 280mA
backordered
Pololu
$12.95
L3G4200D 3-Axis Gyro Carrier with Voltage Regulator or ST L3GD20 3Axis Gyroscope
Pololu
$24.95
Medium Range IR GP2Y0A02YK with a range of 20 cm to 150 cm (8 in to
5 ft)
Pololu
$14.95
Long Range IR GP2Y0A710YK0F with a range of 100cm (40") to 550cm
(~216").
Acroname
$19.50
3-pin female JST PH-style connector
Pololu
$1.25
650nm 5mw laser module
Aixiz
$5.00
Subtotal
Now let us look at the powertrain.
Chassis and Powertrain
Item
Source
Cost
RB-Rbo-118 RobotShop Robot Rover for
Arduino
RobotShop
$85.99
Spare Pololu Brushed DC Motor: 130-size,
operational voltage of 3 – 12 V. 11,500 rpm no
load @ 70 mA and stall current of 800 mA.
Pololu
$3.58
(2 x $1.79)
Rubberized Undercoating for sound deadening.
Comes in an Aerosol can. Sold by most auto
supply stores including the Auto Zone and
manufactured by 3M, Rusto-Oleam, DupliColor. Prepare track surface with 200 grade or
finer sandpaper. An alternative is a rubber
coating spray available from Hardware stores,
like Home Depot,
Auto Zone
$7.49
Temflex 2155 Rubber Splicing Tape is a
rubberized tape that is good alternative for
adding traction to the plastic treads.
220 grit sand paper
For roughing surface of plastic treads before
gluing the rubber tape on.
Home Depot
2 minute Gorilla Glue
For gluing rubber tape to treads.
Home Depot
¼“ Drill bit or ¼” Straight flute, right cut
reamer (optional)
Drillspot
Subtotal
In the next section we will look at providing electrical power to the digital systems (clean) and
our motors (dirty).
Battery Power
9v Battery
The RobotShop rover comes with a 9v battery clip
RadioShack
$3.79
9V battery clip with 2.1mm plug
Adafruit
3.95
Speed pack 700mAH 7.2V NiCd Batt.
Battery Space
UltimateHobbies
1536 East Katella
Ave.
Orange, CA
(714) 538-3111
$6.95
($8.95)
Compact Smart Charger (0.6 A ) for RC Car 6.0V - 12 V NiMH/
NiCd Battery Pack, UL / CE listed
Battery Space
UltimateHobbies
$19.35
($28.95)
Connector/Adaptor: Female Mini-Tamiya - to - motor shield
Battery Space
$1.50
Subtotal
Next we define the electronics module needed by the DC motors, Stepper Motor, and Sensors.
Motor Shield
Item
Source
Cost
Adafruit Motor Shield
Adafruit
Robotshop
$19.50
Spare H-Bridge ICs
SN754410NE or L293D
Digikey
Sparkfun
JK Electronics
$4.66 (2 x $2.31)
Aavid Thermalloy snap on heat sink
Digikey part number
HS179-ND
Kronos Robotics
$1.48 (2 x $0.71)
Optional 1x6 contact female header.
Pololu
Digi-Key
$1.32 (3 x $0.44)
16-pin IC Socket (Adafruit comes with two, I
would recommend three)
Digikey
AE9992-ND
$0.32
Total
$
Scan Platform
Item
Source
Cost
Dagu Mini Pan and Tilt Kit
RobotShop
$14.99
3D Printed Adapter, Mast, and Sensor
Assembly
EE444
1.75 mm PLA
Plastic
Zinc-Plated Alloy Steel Socket Head
Cap Screw 4-40 Thread, 1/4" Length
for mounting hub and IR sensor
note: Pololu is a machine screw,
need to drill out to allow access for a
phillips screw driver.
McMaster-Carr
90128A106
25-Pack
Pololu
25-Pack
$6.55
Machine Screw: M3, 8mm Length,
Phillips for mounting stepper motor
McMaster-Carr
92005A118
100-Pack
Pololu
25-Pack
$2.33
GC Waldom finish washer, Nylon #6.062
THK. Manufactured by GC Thorsen
Model: NW-876-0025P, FRYS.com
#3580594, UPC: 010151764430
Frys
$1.49
Nylon Spacer: 2mm Length, 4mm OD,
2.7mm ID (50-Pack)
This Nylon spacer is for spacing stepper
motor off chassis and for scan/tilt
platform.
Pololu
$1.79
$0.69
$0.69
Znc-Pltd Nylon-Insert Hex Locknut 4-40
Thread Size, 1/4" Width, 9/64" Height for
IR sensor
Note: Pololu is not Nylock, use Locktite
McMaster-Carr
90631A005
100-Pack
Pololu
25-Pack
$2.36
$0.59
Total per Rover (est.)
We will also need a solderless breadboard for experimentaion and the final project.
Solderless Breadboard
Item
Source
Cost
Tiny Breadboard
Pololu
Robot Shop
Adafruit
Digikey
700-00012-ND
$2.95
($3.95)
($4.00)
($3.99)
Breadboarding Wire Bundle
Adafruit
$6.00
Female Crimp Pins for 0.1"
Housings 100-Pack
Pololu
$5.95
Male Crimp Pins for 0.1" Housings
100-Pack
Pololu
$7.95
Pololu
$0.59
Automotive Connectors MALE 2.8MM
TERM 18-20 AWG TIN
Used for power connector
Mouser
JK Electronics
$1.05
Heat-Shrink Tubing
RadioShack
$5.99
0.1" (2.54mm) Crimp Connector
Housing: 1x1-Pin 25-Pack
Total
Ties and Velcro
Item
Source
Cost
Nylon Wire Ties
RadioShack
$2.49
Velcro
RadioShack
$3.49
Total per Rover (est.)
$4.50
Camera
Item
Source
Cost
Wireless Camera Kit
DynaSpy
$199.99
Optional 1.3mm 90º Female Barrel Jack - 9
Volt DC Battery Type Snap
VideoComm
$9.89
Total per Rover (est.)
$4.50
Miscellaneous Items
You will also need an assortment of capacitors (.01 uF ceramic, 0.1uF, 10uF Tantalum) and resistors
(220 ohm, 1 K, 4.7 K, 10 K, 22K). You will need items in bold type. Hopefully, you have accumulated a
most of these items over the past semesters. If not Radio Shack has a nice 100 and 500 piece resistor
assortment pacts. Do not purchase Radio Shack’s capacitor assortment pacts. Typically, capacitor values
make them completely worthless.
I would recommend a few LEDs (Digikey 754-1242-ND) to provide visual feedback on the operation of
your rover. I have found a 10K ohm potentiometer to be a nice addition for checking the operation of the
ADC on the ATmega328P.
I am assuming you have your solder equipment from EE346 “Microprocessor Principles and
Applications.” If not you can find an inexpensive list of equipment and supplies here.
To run some of the more advanced labs, plus to calibrate your sensors you will need a laser pointer (try
the 99 cent store), tape measure (metric recommended), bubble level, triangles and/or protractor, string,
scissors, super glue, and black electrical tape.
Summary
Microcontroller
$0.00
Actuators and Sensors
$56.94
Chassis and Powertrain
$86.86
Battery Power
$33.39
Motor Shield
$28.88
Scan Platform
$10.00
Solderless Breadboard
$16.99
Ties, Velcro, and Adhesives
$4.50
Miscellaneous Items
$10.00
Grand Total
$247.56 / 3 = $82.52
S’13 Note: This summary is out of date.