Tek Bot Assembly

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+

Copyright 2005

Oregon State UniversitySchool of Electrical Engineering &

Computer Science

This document is the property of Oregon State University and the School of

EECS. Limited use is allowed according to the following criteria: materials

are free to use except for cost of reproduction but must bear this statement.Materials created using this information may not be labeled as TekBots

materials without the prior written consent of Oregon State University and theSchool of EECS.


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Preface

Page iv TekBot Assembly Guide 2006Oregon State University

HHOOWW TTOO UUSSEE TTHHIISS MMAANNUUAALLThis manual is designed to guide a builder through the process of constructing a basic TekBots platform frombeginning to end in a step-by-step fashion. Little to no experience is assumed on the part of the builder, except forthe understanding of how to solder electrical circuits.

IIMMPPOORRTTAANNTT SSYYMMBBOOLLSS

This symbol indicates an important note that should be remembered. Payingattention to notes like these will make tasks easier and more efficient.

This symbol designates information that must be followed. If caution is ignored thetask may appear impossible. Ignored caution symbols can lead to damagedsystems.

This symbol represents something that should not be forgotten. Remindersymbols are used to make sure an important step has been completed beforecontinuing.

The innovation symbol indicates an opportunity to advance beyond what isrequired. These sections will give more insight into the what, why, and how of acertain topic. Use these to learn more or get ideas for nifty innovations.


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Section 1: The Mechanical Frame

2006 Oregon State University TekBot Assembly Guide Page 1

Section 1The Mechanical Frame and Motors


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Page 2 TekBot Assembly Guide 2006Oregon State University

MMOOTTOORR AASSSSEEMMBBLLYY AANNDD MMOOUUNNTTIINNGGTo make connections to the motors, we will use single conductors stripped from ribbon cable. Connectors will eventually be

attached to the ends of these wires, as they will be plugged and unplugged many times. The stranded conductors in the ribbon

cable will provide a more durable connection than solid wire, which would break after being flexed a few times.

To attach wires to the motors, begin by finding the 10 conductor ribbon cable in the kit. This is brightly colored and about 15long.

1. Split the 10 strand ribbon cable into 5pairs of wires

2. 2

2. Split one pair of wires 3 3. Strip 1/8 of insulation from the ends, figure1c.

4. Tin (see the meaning below)the motorterminals by lightly coating the copper motorcontacts with solder. Be careful not to fill theholes with solder, figure 1d.

5. Slide of heat shrink tubing over the ends ofthe wires, figure 1e.

6. Pass the wire through the motor terminal andbend it back over itself. Crimping the wire ontoitself holds it in place while the soldering is done,figure 1f.

7. Pass the leads of one of the three 0.1microfarad capacitors (Cap1) into the two motorterminals. One lead of each of the restcapacitors (Cap2 and Cap3) goes into eachterminals of the motor, figure 1g.

8. Solder both the wire and capacitors leads tothe terminal. For Cap2 and Cap3, solder theirloose leg onto the motors metal case. Cut theexcess lead of the capacitors off, figure 1h.

9. Slide the tubing over the solder joint and heatit to shrink it, figure 1i.

to tin: to cover with solder in order to avoid wearing of the metal.

Repeat steps 6 through 9 for the other motor terminal. And repeat steps 2 through 9 for the other motor.


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How to use heat shrink tubing.

Heat shrink tubing is a common product in electronicsused for insulating electrical connections and preventingshort circuits. The tubing when heated will try to

contract to about 50% of its original size. Commonly

this heat is applied using a heat gun but in a pinch, alighter or soldering iron can be used. When using a

soldering iron, stroke the soldering iron along the heat

shrink several time from all angles. Watch for the

tubing to shrink.

At the other end of the motor wires, a male .1 header connector needs to be soldered on. This connector will allow for the

motors to be inserted and removed many times into the TekBot motor controller without being damaged. This process can be alittle hard the first few times because the male headers move as you are solder the cables. You should find a place where you

could stab the male headers so they are still. The box of your TekBot kit should work.

1. Split the other end of the motor wires about to 1.

2. Using one of the strips of male header in thekit, tin two side-by-side male pins with solder.Slide a piece of heat shrink onto each wire.

3. Solder one wire to each male header pin.

4. Slide the heat shrink into place, and shrink it. *Male connector stabbed into a piece of card board.


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To attach the motors to the TekBot use the #4 sheet metal screws included in the kit. Align the motor so that the shaftprojects out of the frame and screw in the screws, fig 3.

Figure 3: Motor mounted to TekBot frame.

Be cautious to not over tighten the sheet metal screws holding the motors to the frame. Too much

torque can damage the motors enough they may need to be replaced.

AATTTTAACCHHIINNGG TTHHEE BBAATTTTEERRYY HHOOLLDDEERRSSTo attach the battery holders, place them inside of the TekBot frame with their leads away from the

motors. Insert the 3/8 4-40 flat head metal bolts through the holes in the battery holders with the

head of the bolt inside of the battery compartment. Attach the nuts and tighten till snug.

TekBots frame

v1.03

3/8 4-40 Flat

head metal bolt

3xAA Battery

Holder

4-40 Metal nut


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Figure 4: Battery holders attached to the TekBots frame

Cut the black wire from one battery holder and the red from the other battery holder 2 long. Strip the ends and twist themtogether. Solder these two wires together, figure 5. Cut a piece of shrink tubing and slide it over the solder joint. Using a

heat gun or a soldering iron apply heat to all sides of the shrink tubing. The tubing will shrink to fit prevent the connection

from shorting to the aluminum base.

Figure 5: The steps to connect the battery holders together.


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AATTTTAACCHHIINNGG TTHHEE RROOLLLLEERR BBAALLLLPlace the roller ball on the bottom of the TekBot frame. Insert the round head 10-32 3/8 bolts through the holes in the

TekBots frame so that the head of the bolt is inside of the frame. Attach the nuts and tighten.

Figure 7: Roller ball mounted to TekBots frame

If the bolts are put in upside down, you will damage your charger board when you attach it to the

frame.

AATTTTAACCHHIINNGG TTHHEE WWHHEEEELLSSTo attach the wheels to the motors install the adapter disks, included in the kit, to your wheels.

Orient the adapter disk on the wheel with the wider flange aginst the wheel using the #2 brass

screws in your kits screw through one of the four holes in the adapter disk into the wheel

Figure 8: Aligned and un-aligned adapter disk

TekBots framev1.03

3/8 10-32 Round

head metal bolt

Roller Ball

10-32 Metal nut


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Once the screw is tight look at the adapter and wheel. Is the adpater in the center of the wheel? If not adjust till the adapter is

even if you have to remove and reinsert the screw. After the wheel and adpter is alligned insert the other three screws.

Figure 9: Disk mounted to wheel

To attach to the motors simply press fit the adapters on the the motor shafts. This is a very tight fit

and will requires quite a bit of force to mount the wheels.

Figure 10: Wheel mounted to motor.

Congratulations, you have completed the basic assembly of your robotic base. Yours should look

like figure 11.

#2 Brass

Screw

Adapter Disk

3 Wheel


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Figure 11: A completed TekBots base.


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Section 2: Charger Board Assembly


Section 2Charger Board Assembly chrg.1


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OOVVEERRVVIIEEWWThe charger board is the heart of the power supply for the TekBots base.

It provides both a way for charging the on-board batteries and delivering

battery voltage to all of the different connected systems.

AASSSSEEMMBBLLIINNGG TTHHEE BBOOAARRDDThe charger board will be used to recharge the batteries on the TekBotand to distribute power to all of the different boards on the TekBot.

1. Resistors: Begin by soldering all of the resistors into place.Resistors are not polarized so you can put them in either way.

Figure 12: Resistors soldered in place.

2. Diodes: Solder the diodes into place. Diodes are polarized so it is important which leadgoes into which hole. Most diodes will have a white or black band on one end. On thesilkscreen, where the diode will be placed there should be a white band as well. Be sure

that the white band on the silkscreen and the white or black band on the diode are on the

same side when you insert the diode.

Resistor Color Codes:

0 Black1 Brown

2 Red

3 Orange

4 Yellow

5 Blue

6 Green

7 Purple8 Gray

9 White

The above picture is a 1K ohm resistor.

1(Brown) . 0(Black) * 102(Red) = 1K ohm

Parts List:

R4 10

R3 12R1 180

R7 3.3K

R6 330K 1%

R2 390

R8 4.7K

R5 820K 1%


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Figure 13: Diodes soldered into place

3. Integrated Circuits: Solder the single Integrated Circuit (IC) into place. Be careful, it is

polarized and must be inserted in the correct direction. There will be either a small dot or half-moon notch on one end of the chip. Align this with the half moon notch on the silk screen of the

board for correct insertion.

Parts List:

D5,D6,D7,D8 1N4004

D2 1N5819

D1 1N5245B

D4 TL431CLP

Parts List:

U1 TS912IN


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Figure 14: IC soldered into place.

4. Capacitors: Solder in the capacitors now. Capacitors may or may not be polarized. To figure if a capacitor is polarizedexamine it and see if there is a black stripe or a little line near one of the leads. This commonly means that the

capacitor is polarized. For C3 make sure the black line is towards the outside of the board.

Figure 15: Capacitors soldered in place.

Parts List:

JP1.100"Shunt

J82x1 MaleHeader

J1, J2,J3, J4,J5, J6

4x1FemaleHeader

J7

2x1FemaleHeader

PJ-002A

Parts List:

C1Ceramic.1uF - 50V

C2Ceramic47pF - 50V

C3

Electrolytic330uF -35V


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5. Connectors: There are multiple connectors and jumpers on the charger board. These connectors come in three types;the power jack, female header, and male header. The male and female headers are made by cutting sections from thelarger 36 position strips that are included in the kits. A detailed example of making the female headers is presented

below.

Making female connectors / headers: In your kits you should have several strips of female header material. In

order to make the smaller jumpers you will use on all of your boards, you need to clip sections off of these strips. Todo this, simply count the number of pins you need and cut the next pin in half. Be careful to not cut too close to the

piece you are keeping or it may break when you cut it off. A good tool for doing this is a pair of diagonal cutters.

Figure 17 shows these steps.

Figure 16: Connectors soldered into place.

Figure 17: Making female connectors.


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6. Finishing Up: Solder the remaining parts into the board. D3 is the LED charge indicator. Itis a polarized part. The longer lead should go into the board where the + sign is on the silk

screen. Q1, and Q2 are transistors. Transistors are polarized also. Q1 should be inserted sothat it lines up with the silk screen. Q2 should be inserted so that the metal tab on the top of

Q2 lines up with the thick white line on the silk screen.

Figure 18: The completed charger board.

MMOOUUNNTTIINNGG TTHHEE BBOOAARRDD OONN YYOOUURR RROOBBOOTT

1. Use 3 4-40 metal machine bolts, 3 4-40 round spacers, and 3 4-40 metal nuts to mount the charger board to youraluminum base. Align your charger board as shown below and attach it. DO NOT MOUNT THE BOARDDIRECTLY TO THE METAL BASE; USE THE 4-40 SPACERS. Figure 19 shows an attached charger board.

Parts List:

D3HLMP1700LED

F1MFRX110

Fuse

S1

EG1213 MiniatureSlideSwitch

Q1 2N4401

Q2 TIP29C


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Figure 19: Diagram of spacer usage and base with connected charger board.

2. Now you need to connect your batteries to the charger board. To do this you will need to solder a male header onto thebattery leads so that they can be plugged into the charger board. This process is the same as putting the male headers

on the ends of the motor wires. Refer to section 1 for assistance.

3. Plug the battery connection into your charger board as shown in figure 20. Notice that the red lead is closer to F1. Ifyou reverse this plug you WILL destroy your board and you will need to purchase a new one.

Figure 20: Battery holders plugged into the charger board.


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Section 3: The Motor Controller Board


Section 3The Motor Controller Board mtr_ctlr.1


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Section 3: The Motor Controller Board


PPUURRPPOOSSEEThe mtr_ctlr.1 board that comes with the TekBots base is pre-assembled except for the addition of female connectors for

interfacing to the motors and the other system boards. This two channel control slows for two motors to be controlled.

MMOOUUNNTTIINNGG TTHHEE BBOOAARRDD OONN YYOOUURR RROOBBOOTTUsing 4 4-40 metal machine bolts, 4 4-40 round spacers, and 4 4-40 metal nuts mount the motor controller board. You can

put this board anywhere you want on the acrylic layer of the robot. Be sure to use the nylon spacers for mounting the board,figure 23.

Figure 23: Mounting diagram for motor controller board.


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Section 4: Sensor Board


Section 4Sensor Board sense.1


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PPUURRPPOOSSEEThe forward mounted sensor board has two tactile switches used to signal the TekBot when it impacts an object.

AASSSSEEMMBBLLIINNGG TTHHEE BBOOAARRDDThe sensor board is used by the TekBot to detect when it hits an object. When either switch is depressed a signal will be sent to

the analog controller indicating the switch is depressed.

1. Resistors: Begin by soldering all of the resistors into place. Resistors are not polarized so you can put them in either

way.

Figure 24: Resistors soldered in place.

2. Connectors: There are multiple connectors on the motor board. Construct the female headers as you did when buildingthe charger board above.

Figure 25: Connectors soldered into place.

Parts List:

R1, R2 100

Parts List:

J1,

J2

2x1 Female

Header


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3. Finishing Up: Solder the two switches onto the board...

Figure 26: The completed sensor board.

MMOOUUNNTTIINNGG TTHHEE BBOOAARRDD OONN YYOOUURR TTEEKKBBOOTTUsing 2 4-40 metal machine bolts, 2 4-40 round spacers, and 2 4-40 metal nuts mount the sensor board. Align the sensor

board as shown below and attach it to the acrylic layer of the robot. Be sure to use the nylon spacers for mounting the board.

Figure 27: Base with connected sense board.

Parts List:

S1, S2EG1201Switches


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Section 5: The Analog Controller Board


Section 5The Analog Controller Board anlg_ctlr.1


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PPUURRPPOOSSEE

The TekBots analog controller allows for simple TekBot behavior using only analog components. The board is 'programmable'

using voltage references that can be set using on board potentiometers. It can be used to create a simple 'bump-bot'functionality, or as an emergency backup of a digital system.

PPRROOCCEEDDUURREEFigure 28 shows the PCB (printed circuit board) of the analog board you will be using. The white writing/pictures on the PCB,

called silkscreen, can help you to identify locations, orientation, and polarities for the components.

Figure 28: Analog board PCB

S ti 5 Th A l C t ll B d


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1. Potentiometers: Solder the potentiometers in place as shown in Figure 29. They aredesignated R1 R4.

2. Resistors: Solder resistors in place as

shown in Figure 30. Note that there is noR7.

Parts List:R5 220 Resistor

R6 1M Resistor

R8 10K Resistor

R9 10K Resistor

R10 1M Resistor

R11 100 Resistor

R12 100 Resistor

Parts List:

R1 Potentiometer 10K 409H Ceremet




Figure XX: Analog Control Board with Resisitors in place.Figure XX: Analog Control Board with Potentiometers in place.



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3. Diodes: Before you solder the diodes onto the analog board, please check their orientations:make sure the line of the diodes match the line on the silkscreen (the white pictures/writing on

the PCB); then double check to see if the diodes are placed correctly. You may then solderthe diodes onto the analog board.

Figure 31: Analog board with step 3 finished

Figure 32: This is a close-up of the diodes. Pay close attention on the diodes orientation.

Parts List:D1 1N5232B

D2 1N5819



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4. Capacitors: Solder the capacitors in place. C1 and C2 are polarized so make sure theorientation of each diode is correct (longer lead is positive). C4 is not polarized. Ifyoure having trouble deciding the capacitor values, please refer to Appendix B analog

board. There is also a capacitor code chart in Appendix A.5. Comparator chip: Before you solder the comparator chip onto the analog board, check

the orientation of the chip: make sure the semi-circle of the chip matches the semi-

circle on the silkscreen; then double check to see if the chip is placed

correctly. You may then solder the comparator chip onto the analog board.

Parts List:

C1 10 F Capacitor

C2 10 F Capacitor

C4 0.1 F Capacitor

Parts List:

U1 IC LM339 Quad Comparator

Figure XX: Analog Control Board with Capacitors in place.Figure XX: Analog Control Board with IC in place.



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6. Female headers: Solder female headers in place. The female headers are created like in previous sections for thecharger and motor controller boards.

Now you may place the analog controller board onto the TekBot.

Parts List:

J1 4-pin female header

J2 2-pin female header

J3 4-pin female headerJ4 4-pin female header

J5 2-pin female header r

Figure 35: Analog board fully assembled.

Section 6: Final Assembly


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Section 6Final Assembly



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y


FFIINNAALL AASSSSEEMMBBLLYY1. Our last step after all of the boards are mounted is to connect them together. You can put any of the boards anywhere

you would like to except that the sensor board needs to be on the front of the TekBot so that it can detect its

environment.

2. You will be assembling a system like the one shown in figure 10. To connect power to the boards, and signals betweenthe boards, you should use pieces of CAT-5 cable available in your kits. This cable is very inexpensive and plugs in

nicely to the female header receptacles on your boards.

Figure 36: The complete system.

3. Figure 38 shows the wiring for the boards used in your system.Figure 37 shows an example of a completely assembled robot.

Figure 37



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Figure 38: TekBot Wiring Diagram



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TTUUNNIINNGG YYOOUURR TTEEKKBBOOTT

1. Now you need to tune your TekBot so that is operates intelligently. We do this by adjusting the variable resistors R1,

R2, R3, and R4 on the analog brain board. You will notice that these resistors are labeled Left Rev. and Right Rev.The variable resistors on the left (R1 and R2) control the robots response when the left switch is triggered, and the

ones on the right (R3 and R4) work when the right switch is triggered. This allows for different responses to each

switch. Lets begin by tuning the response to the left switch.

Figure 39: Analog board.

2. When the left switch is hit we want the robot to back straight up, then turn to the right and continue. To do this, firstboth motors should reverse then the left motor should turn forward while the right motor continues in reverse. So thereverse time on the left motor should be shorter than the right motor. On our TekBots, turning the variable resistors

clockwise makes a wheel turn backwards longer. So adjust R3 and R4 so that when the left switch is hit the left wheel

backs up for less time than the right wheel. Figure 40 shows an example of how these might be set.



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Figure 40: Left switch response settings.

3. Now set the right whisker to respond in the opposite manner with the right motor reversing for less time than the left

motor.

Appendix A: General Reference Material


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Appendix AGeneral Reference Material



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SSCCHHEEMMAATTIICC SSYYMMBBOOLLSS

Figure 41: A table of schematic symbols



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RREESSIISSTTOORR CCOOLLOORR CCOODDEE CCHHAARRTT

Figure 42: Resistor Color Code Chart



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CCAAPPAACCIITTOORR CCOODDEE CCHHAARRTT

Figure 43: Capacitor Code Chart

Appendix B: Part List


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Appendix BParts List

Appendix B: Parts List


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OOVVEERRVVIIEEWWThis section contains a list of all of the parts used in the construction of the TekBot kit. When available, supplier and

manufacturer part numbers are also listed to ease replacement. Contact information for the various suppliers is provided in

appendix D.

MMEECCHHAANNIICCAALL BBAASSEEQty Description Figure Supplier Supplier #

8 Bolts Brass Flat Head 1/2 Wood Screw A McMaster Carr92114A081

2 Bolts Metal 10-24 Pan Head 3/8 Standard B McMaster Carr 90279A240

Fig. A Fig. B

4 Bolts Metal 4-40 Flat Head 1/2" Sheet C McMaster Carr90048A110

4 Bolts Metal 4-40 Flat Head 5/8" Standard D McMaster Carr90273A112

Fig. C Fig. D

4 Bolts Nylon 8-32 Pan Head 3/8 Standard E McMaster Carr94609A192

2 Nuts Metal 10-24 F McMaster Carr90480A011

Fig. E Fig. F

8 Nuts Metal 4-40 G McMaster Carr90480A005

4 Nuts Nylon 8-32 H McMaster Carr94812A114

Fig. G Fig. H

1 Metal Base v1.03 I TekBots base.1

1 Plexiglass Level v1.03 J TekBots base.1

Fig. I Fig. J



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2 GMW GM-* Wheel Adapters K TekBots GMW

2 GM-8 Motors L Solarbotics GM-8

Fig. K Fig. L

2 Wheels 3 Dave Brown LiteFlight M TekBots 3 Wheel

1 5/8 Roller Ball N TekBots Roller Ball

Fig. MFig. N

4 Spacers 1.5 8-32 Nylon, Male-Female Threaded O McMaster Carr92745A545

Fig. O



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CCHHAARRGGEERR BBOOAARRDDQty Description

Reference

Fig. Supplier Supplier #

4 Diode Rectifier 1N4004 D041D5, D6,D7, D8 A Mouser

583-1N4004

1 Diode Schotkey 1N5819 -DO204AL D2 A Mouser625-1N5819

Fig. A: Fig. B:

1 Diode Zener 1N5245B D035 D1 B Mouser 625-1N5245B

1Diode Zener TL431CLP TO 266AA (TO92)

D4 C Mouser 512-TL431CLP

Fig. C:Fig. D:

1 LED Red HLMP1700 D3 D Mouser 512-HLMP-1700

1 Transistor BJT 2N4401 NPN TO92 Q1 E Mouser 625-2N4401

Fig. E: Fig. F:

1 Transistor BJT TIP29C TO220 Q2 F Mouser 512-TIP29CTSTU

4 Bolts 4-40 Pan Head 3/8" - Standard GMcMasterCarr

90273A108

Fig. G: Fig. H:

3 Bolts 4-40 Pan Head 1/2" - Standard GMcMasterCarr

91773A110

1Power Connector PJ-002A FemaleCoaxial

J9 H DigiKeyCP-002A-ND

Fig. I: Fig. J:

1 Connecter Header - .100 Shuntw/Handle JP1 I DigiKey A26242-ND

1 IC Dual Op Amp TS912IN U1 J Mouser511-TS912IN



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7 Nuts 4-40McMasterCarr

90480A005

1 AC Adaptor 12V/120mA Plug-In TekBots Wall Wart

Fig. M: Fig. N:

6 Batteries Rechargeable NiCad M TekBots NiCad Battery

2 Battery Holders 3XAA 6 Leads N Mouser 12BH331

Fig. O Fig. P

1 Fuse MFRX110 1.1A Resetable F1 O Mouser 652-MFRX110

1Capacitor Ceramic Disk - .1uF C1 P Mouser 581-SR205E104M

Fig. Q Fig. R

1 Capacitor Ceramic Disk - 47 pF C2 P Mouser 140-50S2-470J

1 Capacitor Electrolytic 330uF C3 Q Mouser 140-XRL35V330

Fig. S Fig. T

1 1.8 Watt, 10 Resistor R4 R Mouser 299-10



1 1.8 Watt, 3.3K Resistor R7 R Mouser 299-3.3K

11.8 Watt, 330K Resistor 1%Tolerance

R6 R Mouser P330KCACT-ND


1 1.8 Watt, 4.7K Resistor R8 R Mouser 299-4.7K

11.4 Watt, 820K Resistor 1%Tolerance

R5 R Mouser P820KCACT-ND

3 Nylon Spacers SMcMasterCarr

94639A615

1 Switch - EG1213 Miniature SPDT S1 T Mouser612-EG1213


SSEENNSSOORR BBOOAARRDD


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SSEENNSSOORR BBOOAARRDDQty Description

Reference


2 1/8 Watt Resistor 100 R1, R2 A Mouser 299-100

2 Bolts 4-40 Pan Head 1/2" Standard BMcMasterCarr

91773A110

Fig. A Fig. B

2 Nuts 4-40 CMcMasterCarr

90480A005

2Spacers 3/16 Nylon

DMcMasterCarr

94639A615

Fig. C: Fig. D:

2 Switches Tact Switch EG1025 S1, S2E

Mouser 612-TL1100G

2 Switches Switch Key Cap EG1076 F Mouser 612-TAA-BK

Fig. E:

Fig. F:


AANNAALLOOGG CCOONNTTRROOLLLLEERR BBOOAARRDD


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AANNAALLOOGG CCOONNTTRROOLLLLEERR BBOOAARRDDQty Description

Reference


1

Diode Schotkey 1N5819 -DO204AL

D2 A Mouser

625-1N5819

1Diode Zener 1N5232B D035 D1

B Digikey1N5232BMSCT-ND

Fig. A: Fig. B:

4Bolts 4-40 Pan Head 1/2" - Standard

CMcMasterCarr

91773A110

1IC LM339 Quad Comparator U1

D DigikeyLM339NNSND

Fig. C: Fig. D:

4Spacers 3/16 Nylon

EMcMasterCarr 94639A615

4Nuts 4-40

FMcMasterCarr

90480A005

Fig. E: Fig. F:

1Capacitor Ceramic Disk - .1 Spacing.1uF

C4G Mouser

581-SR205E104M

2Capacitor Tantalum 10uF C1, C2 H Digikey P2026-ND

Fig. G: Fig. H:

4Potentiometer 10K 409H Ceremet R1, R2,

R3, R4 I Mouser323-409H-10K

210K Resistor R8, R9

J Mouser299-10K

Fig. I: Fig. J:

2

100 Resistor R11,

R12 J Mouser299-100

21M Resistor R6, R10

J Mouser299-1M

1220 Resistor R5

J Mouser299-220


MMIISSCCEELLLLAANNEEOOUUSS


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MMIISSCCEELLLLAANNEEOOUUSSQty Description Figure Supplier Supplier #

3 36 Female Header A DigiKey929974-01-36-ND

1 1/16 Heat Shrink 1 foot DigiKey A116B-4-ND

Fig. A

Fig. B

1 Protoboard B TekBotsSmallProtoboard

1 10 Conductor Ribbon Cable 15 inches Mouser517-3302/10FT

Fig. C

Fig. D

1 mtr_ctlr.1 Assembled Motor Controller Board C TekBots mtr_ctlr.1

1 CAT-5 Wire 1 foot TekBots CAT-5

Fig. E Fig. F

4 Nylon Spacers D McMaster Carr94639A615

4 Nuts Metal 4-40 E McMaster Carr 90480A005

3 Bolts 4-40 Pan Head 1/2" - Standard F McMaster Carr 91773A110



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EEXXTTRRAA PPAARRTTSS LLIISSTT

Qty Description Figure Supplier Supplier #

6 Capacitor Ceramic Disk - .1uF A Mouser581-SR205E104M

410K Resistor

B Mouser299-10K

Fig. A Fig. B

4Switch

C DigikeySW400-ND

2 10K ohm Square Sealed Potentiometer D Mouser652-3386H-1-103

Fig. C Fig. D

2Photocell Resistors

E Jameco202411

1IC LM339 Quad Comparator

F DigikeyLM339NNSND

Fig. E

Fig. F

Appendix C: Schematics


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Appendix CSchematics


CCHHAARRGGEERR BBOOAARRDD


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CCHHAARRGGEERR BBOOAARRDD

Figure 44: Block diagram of the charger board

SSEENNSSOORR BBOOAARRDD

Figure 45: Schematic of the sensor board


MMOOTTOORR CCOONNTTRROOLLLLEERR BBOOAARRDD


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MMOOTTOORR CCOONNTTRROOLLLLEERR BBOOAARRDD

Figure 46: Block diagram of the motor controller board


AANNAALLOOGG CCOONNTTRROOLLLLEERR BBOOAARRDD


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Figure 47: Block diagram of the analog board

Appendix D: Suppliers


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Appendix DSuppliers


701 Brooks Ave. SouthThief River Falls MN 56701-0677


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DigiKeyThief River Falls, MN 56701 0677(800) 344-4539http://www.digikey.com

Mouser Electronics

1000 N. Main StreetMansfield, TX 76063(800) 346-6873http://www.mouser.com

Allied Electronics

6700 SW 105th St, Suite 106Beaverton, OR 97008(800) 433-5700

http://www.alliedelec.com

TekBots

220 Owen HallOregon State UniversityCorvallis, OR [email protected] http://eecs.oregonstate.edu/tekbots

Solarbotics

179 Harvest Glen Way N.E.Calgary, Alberta, Canada T3K 4J4(866) B-ROBOTShttp://www.solarbotics.com

McMaster-Carr

P.O. Box 7690Chicago, IL 60680-7684(562) 692-5911http://www.mcmaster.com

Jameco Electronics

1355 Shoreway RdBelmont, CA 94002(800) 831-4242http://www.jameco.com

http://www.digikey.com/http://www.mouser.com/http://www.alliedelec.com/mailto:[email protected]://eecs.oregonstate.edu/tekbotshttp://www.solarbotics.com/http://www.mcmaster.com/http://www.jameco.com/http://www.jameco.com/http://www.mcmaster.com/http://www.solarbotics.com/http://eecs.oregonstate.edu/tekbotsmailto:[email protected]://www.alliedelec.com/http://www.mouser.com/http://www.digikey.com/


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Thank you for choosing Oregon State University Tekbots!

Documents

Tek Bot Assembly