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Design And Technologies
Make a Robotusing PICAXE (SES)
Steven Penna
Student Name:Robot_P
Third Edition
Engineering Principles and Systems
and
Materials and Technologies Specialisations
Engineering Principles and Systems
and
Materials and Technologies Specialisations
Engineering principles and systems
Students analyse how motion, force and energy are used to control
electromechanical systems when creating simple, engineered solutions.
Materials and technologies specialisations
Students analyse ways to create designed solutions through selecting
and combining characteristics and properties of materials, systems,
components, tools and equipment.
DESIGN AND TECHNOLOGIES
MAKE A ROBOT USING PICAXE
Steven Penna
ENGINEERING PRINCIPLES AND SYSTEMS
and
MATERIALS AND TECHNOLOGIES
SPECIALISATIONS
Make a Robot Using Picaxe Page 1.
©Copyright LAPtek Pty. Ltd. Design and Technologies
Student Learning Guide & Record
TASK PAGE NAME DATE
COMPLETED TEACHER’S SIGNATURE
Task 1 11 Exercise – Law of the lever
Task 2 14 Exercises – Pulleys
Task 3 15 Exercises – Wheel and axle
Task 4 19 Exercises – Inclined plane, wedge and screws
Task 5 23 Exercises – Gears and gearboxes
Task 6 26 Belt drive and velocity ratio calculations
Task 7 28 Speed calculation
Task 8 29 Type of motion
Task 9 30 Changing the direction of motion
Task 10 34 Review questions – Electric motors
Task 11 35 Assemble your robot arm
Task 12 35 Assemble the gearbox
Task 13 36 Putting it all together
Task 14 38 Identify component circuit symbols
Task 15 40 Write a design brief
Task 16 41 Evaluation criteria
Task 17 42 Check all components
Task 18 43 Mount and solder components
Task 19 47 Check the solder joints
Task 20 47 Check the components
Task 21 47 Connect the battery
Task 22 47 Connect the KS1086 student experimenter module
Task 23 56 Turn led on when the switch is pushed
Task 24 56 Alternative programming method
Task 25 57 Using the binary system
Task 26 58 Testing leds on pins 3, 4 and 5
Task 27 59 Traffic lights
Task 28 59 For…next loop
Task 29 59 Led chaser - Wiper
Task 30 60 Led flasher – Wiper using binary numbers
Task 31 60 Extension unit - What you can do next
Task 32 60 Testing the piezo sounder
Task 33 61 Produce 120 different sounds counting up
Task 34 61 Produce 120 different sounds counting down
Task 35 61 Produce more sounds
Task 36 62 Advanced for ….next loop
Task 37 62 Count down in steps of 1
Task 38 62 Count down in steps of 10
Task 39 62 Some good sounds
Page 2. Make a Robot Using Picaxe
©Copyright LAPtek Pty. Ltd. Design and Technologies
TASK PAGE NAME DATE
COMPLETED TEACHER’S SIGNATURE
Task 40 65 Calibrating the LDR
Task 41 65 Testing the LDR as a digital switch
Task 42 65 Testing the LDR as an analogue sensor
Task 43 66 LDR demo
Task 44 67 Extension unit - What you can do next
Task 45 67 Testing the switch
Task 46 68 Putting it all together
Task 47 69 Extension unit
Task 48 69 Write your own program
Task 49 70 Extension units
Task 50 70 Quick reaction game
Task 51 77 Testing the infra-red remote control and receiver
Task 52 77 Add another led
Task 53 78 Extension unit game - What you can do next
Task 54 82 Mount and solder components for L293D motor driver
Task 55 84 Graphically explain how an H-bridge works
Task 56 90 Summarise aesthetics
Task 57 91 Reflection
Task 58 93 Ergonomics in action (Group work)
Task 59 96 Carry out research
Task 60 99 List of materials and components
Task 61 100 Evaluation criteria
Task 62 101 Concept drawings
Task 63 103 Design options
Task 64 106 Orthographic drawing of preferred design option
Task 65 107 Make a scale model of your preferred design option
Task 66 108 Justification of preferred option
Task 67 108 Production plan
Task 68 111 Wire up your circuit
Task 69 111 Program your robot crane
Task 70 111 Reflections
Task 71 121 Risk task
Task 72 122 Evaluation report
Task 73 124 Maintain a record of the production work (50+ words)
Page 4. Make a Robot Using Picaxe
Design and Technologies ©Copyright L.A.P.tek Pty. Ltd.
WHAT IS A ROBOT, ANYWAY? A robot is any machine that performs tasks automatically. They can be simple robot machines that
can only do one or two things or they can be ‘smart’ robots that are capable of moving around, sense
their environment and understand computer code.
Robots consist of motors, solenoids, cables, electronic parts and can carry out work like vacuuming,
guarding, preparing drinks, working in dangerous situation e.g. diffusing bombs, and many others.
So if you can put several small motors together with electrical/electronic parts and can make a tool
that moves or walks, then that tool can be called a robot.
We will also discuss mechanical principles and the electronic parts that are commonly used to
manufacture robots, e.g. DC motors, electronic components, batteries, solenoid, levers, pulleys and
gears.
We will then use a microcontroller to control the robot.
It takes some time to learn how to program and interact with a ‘smart’ robot. But, the extra effort is
worth it and rewarding when you see something that you created actually moving.
Is it possible that this workbook is able to show you how to build complex robots like ASIMO made
by Honda, KITTY made by Tekno or other clever robots like those we see in the Ford vehicle
assembly plant or in Hollywood movies?
No! This workbook will not explain how to build those clever robot. But don’t lose heart. This
workbook will still explain the basics on how to build robots. With this basic knowledge who knows,
one day you might be able to build robots more sophisticated than those mentioned above.
Robosapien
Make a Robot Using Picaxe Page 21.
©Copyright L.A.P.tek Pty. Ltd. Design and Technologies
COMPOUND GEAR TRAIN
In a compound gear train at least one of
the shafts in the train must hold two
gears. Gears B and C are on the same
shaft.
Compound gear trains are used when
changes in output speed or torque are
required and there is only a small space
between the input and output shafts.
The number of shafts and the direction
of rotation of the input gear determine
the direction of rotation of the output
gear.
Compound gear train
The compound gear train above right has two gears in between the input and output gears. These two
gears are on one shaft. They rotate in the same direction and act like one gear. There is an odd
number of gear shafts in this example. As a result, the input gear and output gear rotate in the same
direction.
Since two pairs of gears are involved, their ratios are “compounded”, or multiplied together.
CALCULATE VELOCITY RATIO FOR A COMPOUND GEAR TRAIN
Several gears meshed together are called a gear
train. And the total gear ratio depends on the
number of teeth on individual gears.
In the figure on the right, the first pair of gears,
the Velocity Ratio is 48 (Driven)
12 (Driver) = 4
For the second pair of gears the
Velocity Ratio is 75 (Driven)
15 (Driver) = 5
The velocity ratio (or gear ratio) for the whole
train is 4 x 5 = 20.
The driver wheel rotates 20 times to turn the
driven wheel once. This is a reduction of 20 to 1.
There would be a corresponding 20 times
increase in torque (turning power).
Gear train
CALCULATE RPM FOR SIMPLE AND COMPOUND GEAR TRAINS
Changing the gear ratio is one of the easiest ways to change the Velocity Ratio and Mechanical
Advantage in a mechanism or system to achieve desired speed and/or torque. The gear ratio
expresses the relationship between a Driver Gear (the gear connected to the input power source, such
as a motor) and a Driven Gear (the gear connected to the output, such as a wheel or mechanism) in a
system.
Make a Robot Using Picaxe Page 31.
©Copyright L.A.P.tek Pty. Ltd. Design and Technologies
c) Linear motion:
.................................................................................................................................................
.................................................................................................................................................
d) Oscillating motion:
.................................................................................................................................................
.................................................................................................................................................
2. Identify a toy or a tool that converts rotary motion to linear motion or linear motion to rotary
motion, and explain how the conversion takes place.
Identify toy or tool:
........................................................................................................................................................
........................................................................................................................................................
Explain how the conversion takes place:
........................................................................................................................................................
........................................................................................................................................................
ROBOT MOVEMENT
INTRODUCTION
There are several different systems that can be used to move robots. Amongst them are the “walking
robots” which use legs, like the robot hexapod (pictured below on left) or robots that use wheels for
movement, like the Mars Rover.
Hexapod
Mars Rover
Later, when you commence designing your own robot, you will have to consider some kind of
mobility. You will note from the pictures above that to create movement using legs, like the
‘Hexapod’, would be difficult, but not impossible. It will be better for you to consider wheels for the
mobility because the design is less complex.
The robot you will be initially making will be a fixed robot. You will be able to provide movement
later.
Page 74. Make a Robot Using Picaxe
Design and Technologies ©Copyright L.A.P.tek Pty. Ltd.
INFRA-RED REMOTE CONTROL The easiest way to use infrared control with a PICAXE microcontroller is with a Sony TV remote
control and a ZP1955 38kHz infrared receiver module. You can also use a universal remote control
but it must be programmed with the special ‘Sony’ transmit code. This is because the PICAXE chip
only recognises the Sony protocol. The infrared receiver uses a photodiode and inbuilt circuitry to
convert the infrared signal into Transistor-Transistor Logic (TTL) that the PICAXE chip can
understand.
The PICAXE 14M2 chip uses the Infrain2 command to enable it to receive IR signals on input pin 3.
This command enables the 14M2 to wait for a signal from the infra-red transmitter before it processes
any procedures. The command is received as a value which is a number between 0 and 127 and is
placed in the predefined variable ‘infra’, which is another name for the variable ‘b13’. A variable is a
‘number storage position inside the microcontroller that it can use to store numbers as the program is
carried out.
See the infrain2 and infraout command descriptions in the PICAXE manual for more details about the
values received from the Sony remote control. Each key on the remote control will transmit a certain
number which you can use to program the 14M2 to perform different functions. We will discuss
setting up and using an AR1012 universal remote control shortly but first you need to build a circuit
so you can use the infra-red receiver module with the PICAXE chip.
INFRARED CONTROL
As you can see from the schematic diagram right
that the circuit is not complicated and only uses a
few components. The parts list should be self-
explanatory and the circuit is easily built using a
breadboard and teaming it up with your KS1084
14M2 module.
Note that the input pin used on the 14m2 is pin 3
Infrared control circuit
Infra-red control circuit mounted on a breadboard
Make a Robot Using Picaxe Page 101.
©Copyright L.A.P.tek Pty. Ltd. Design and Technologies
CONCEPT DRAWINGS EXAMPLE
Concept drawings are rough drawings, representing the chief features of an object. They are
generated to rapidly explore a wide range of ideas and quickly identify and explore opportunities for
innovation. Below are concept drawings for a toy crocodile. Note the annotations and the range of
innovative ideas produced by the designer.
Concept drawing of robot claw – Example
TASK 62: CONCEPT DRAWINGS
How: Complete a range of concept drawings that best represents the chief features of your robot
claw.
Annotate your concept drawings to indicate how they meet the design brief.
CONCEPT DRAWINGS