Future Ready Classrooms - Integrating Coding & Robots with iPads & Android Tablets with Sphero
Joel LawrenceJustin Moses Sphero tm ball robot controlled by iPhone/iPad Commercially available.
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Transcript of Joel LawrenceJustin Moses Sphero tm ball robot controlled by iPhone/iPad Commercially available.
![Page 1: Joel LawrenceJustin Moses Sphero tm ball robot controlled by iPhone/iPad Commercially available.](https://reader035.fdocuments.in/reader035/viewer/2022062322/56649cdf5503460f949a918e/html5/thumbnails/1.jpg)
Implementation of Solenoids for Cylindrical or Spherical Robotic
Locomotion
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Presenters
Joel Lawrence Justin Moses
![Page 3: Joel LawrenceJustin Moses Sphero tm ball robot controlled by iPhone/iPad Commercially available.](https://reader035.fdocuments.in/reader035/viewer/2022062322/56649cdf5503460f949a918e/html5/thumbnails/3.jpg)
Spherotm ball robot controlled by iPhone/iPad
Commercially available
Spherical Robots
![Page 4: Joel LawrenceJustin Moses Sphero tm ball robot controlled by iPhone/iPad Commercially available.](https://reader035.fdocuments.in/reader035/viewer/2022062322/56649cdf5503460f949a918e/html5/thumbnails/4.jpg)
Movement is controlled by internal mechanisms◦ Counter-pendulum◦ Gyroscope◦ Internal rotor
Omnidirectional Can traverse many types of terrain Have no top – bottom orientations Sealed off from the environment
Typical Spherical Robots
![Page 5: Joel LawrenceJustin Moses Sphero tm ball robot controlled by iPhone/iPad Commercially available.](https://reader035.fdocuments.in/reader035/viewer/2022062322/56649cdf5503460f949a918e/html5/thumbnails/5.jpg)
Cannot stop quickly Cannot overcome obstacles greater than
the radius of the sphere Hard to have a zero-turn radius (hard to turn
about the z axis)
Limitations of Spherical Robots
![Page 6: Joel LawrenceJustin Moses Sphero tm ball robot controlled by iPhone/iPad Commercially available.](https://reader035.fdocuments.in/reader035/viewer/2022062322/56649cdf5503460f949a918e/html5/thumbnails/6.jpg)
Use solenoids!
Solution
![Page 7: Joel LawrenceJustin Moses Sphero tm ball robot controlled by iPhone/iPad Commercially available.](https://reader035.fdocuments.in/reader035/viewer/2022062322/56649cdf5503460f949a918e/html5/thumbnails/7.jpg)
Allow for greater control of movement Robot can stop sooner Robot has the potential to jump to
overcome obstacles
Why Solenoids?
![Page 8: Joel LawrenceJustin Moses Sphero tm ball robot controlled by iPhone/iPad Commercially available.](https://reader035.fdocuments.in/reader035/viewer/2022062322/56649cdf5503460f949a918e/html5/thumbnails/8.jpg)
Weight Cost Open to the environment High power consumption
Disadvantages
![Page 9: Joel LawrenceJustin Moses Sphero tm ball robot controlled by iPhone/iPad Commercially available.](https://reader035.fdocuments.in/reader035/viewer/2022062322/56649cdf5503460f949a918e/html5/thumbnails/9.jpg)
Solenoids use inductance to control a plunger
Can be push, pull, or push-pull
Usually have springs to automatically retract or extend after turned off
Solenoids and Implementation
![Page 10: Joel LawrenceJustin Moses Sphero tm ball robot controlled by iPhone/iPad Commercially available.](https://reader035.fdocuments.in/reader035/viewer/2022062322/56649cdf5503460f949a918e/html5/thumbnails/10.jpg)
Uses solenoids with plungers extending from the shell
Only two rows to show proof of concept
Built inside a hamster ball
Spherical Design
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Use a cylinder instead of a sphere
Use the body of a pen to stop the plungers
Everything else stays the same
Simplified Design
![Page 12: Joel LawrenceJustin Moses Sphero tm ball robot controlled by iPhone/iPad Commercially available.](https://reader035.fdocuments.in/reader035/viewer/2022062322/56649cdf5503460f949a918e/html5/thumbnails/12.jpg)
TI MSP430 as the microcontroller Either a TIP31 or a MJE3055 BJT 7805 5v rectifier IC Standard 120 Vac to 12 Vdc wall plug Coded using Code Composer Studio
Controlling the Robot
![Page 13: Joel LawrenceJustin Moses Sphero tm ball robot controlled by iPhone/iPad Commercially available.](https://reader035.fdocuments.in/reader035/viewer/2022062322/56649cdf5503460f949a918e/html5/thumbnails/13.jpg)
Used LEDs to indicate which solenoid should be activated
Original 2N3904 transistors failed
Testing
![Page 14: Joel LawrenceJustin Moses Sphero tm ball robot controlled by iPhone/iPad Commercially available.](https://reader035.fdocuments.in/reader035/viewer/2022062322/56649cdf5503460f949a918e/html5/thumbnails/14.jpg)