Hardware
Most parts were ordered from Lynxmotion (SKU in parentheses):
- Lynxmotion Tibias 4.25" (ASBT-02)
- Lynxmotion Aluminum "C" Servo Brackets with Ball Bearings (ASB-09)
- Lynxmotion Aluminum Multi-Purpose Servo Brackets (ASB-04)
- Hitec HS-485HB servos with Metal Servo Horns (SCD-01)
- Quadrapod Body Kit - Mini (QBK-01)
- Aluminum "L" Connector Brackets (ASB-06)
- BotBoarduino (BBU-01)
- 6.0 Volt Ni-MH 2800mAh Battery Pack (BAT-05)
- Wiring Harness (WH-01)
Remote control parts:
- 2 XBee modules with adapters for wireless communication from Adafruit.
- Meggy Jr RGB from EvilMadScientist.
Video
Firmware
Robot firmware is written in C for the Arduino-based BotBoarduino board and uses a custom Makefile to link, compile and upload the firmware. All robot movements were first simulated in software, then translated into C from Python.
Simulator
Inverse kinematics simulation in 3D, using Python, PyGTK and PyOpenGL. Simulator dependencies:
Resources
- http://en.wikipedia.org/wiki/Forward_kinematics
- http://en.wikipedia.org/wiki/Inverse_kinematics
- http://en.wikipedia.org/wiki/Denavit-Hartenberg_parameters
- Industrial Robotics: Theory, Modelling and Control (specifically, chapter on forward and inverse kinematics)
- http://robotics.usc.edu/~aatrash/cs545/Lecture8.pdf
Workbook
Below are a few sheets from a workbook that I kept while working out the kinematics for the bot. The notes are poorly organized and contain a number of errors, but are included here for the sake of completeness.
