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 Construction manual - Robot kit NIBO

 

burger

08.09.2015 

Applications:

•

Following lines

•

Controlled proceed tangent route

•

Contact-free detection of obstacles

•

Autonomous performance

•

Determination of different flooring 

•

Colour detection

•

Barcode detection

•

Following walls

Features:

•

Main CPU with 16 kByte flash-memory

•

Programmable in C, C++ and Java (GNU gcc and nanoVM)

 1.2  Motors

The robot is driven by two motors with 125:1 transmission (respectively 25:1 
transmission). The motors are driven by a H-bridge with a 14,7 kHz PWM-
signal. The PWM-signal can be regulated by odometry-sensors, thus it is 
possible to drive with constant speed.

 1.2.1  Odometry

The direction of rotation and the speed of the wheels is measured by two 
photo-transistors and two IR-LEDs on the red gearwheels of the transmission.
The speed is directly proportional to the frequency of the signal.

 http://nibo.

nicai-systems.de

9 

Содержание NIBO burger

Страница 1: ...NIBO burger Robot Kit Construction manual version 2015 09 08...

Страница 2: ...obot must be used indoors only In particular the usage of the robot is expressly forbidden on public roadways For a usage deviating from these guidelines no warranty and no accountability are assumed...

Страница 3: ...2 3 1 1 Overview of the optoelectronic parts 26 2 3 1 2 Seperation of pin header strips 27 2 3 2 Assembly of the sensor bricks 29 2 3 2 1 Placing components onto the bottom sides 29 2 3 2 2 Placing co...

Страница 4: ...e polyamid pin 74 2 5 4 Attaching the wheels 75 2 5 5 Insertion of the ICs 76 2 5 6 Assembling of the second layer 77 3 Preparation for operation 79 3 1 Part I Coding LEDs buttons 79 3 2 Part II Senso...

Страница 5: ...harger for the rechargeable batteries On the upper board there is an integrated slot for ARDUINO shields The variable sensor system contains 7 sensor bricks which can be plugged into 10 sensor slots 3...

Страница 6: ...ruction manual with many illustrations explains the assembly and the necessary soldering step by step In order to enable a quick and motivating introduction to the fields robotics programming and cont...

Страница 7: ...which provides all important basic functions and a programming tutorial in C for the first steps After assembling you can directly start with own programming All electronic parts are placed amply dim...

Страница 8: ...ntrol the integrated USB programmer USB programmer which also provides as battery charger for the rechargeable batteries 4 coding LEDs for own functions 3 status LEDs 3 colour sensor bricks 4 IR senso...

Страница 9: ...gcc and nanoVM 1 2 Motors The robot is driven by two motors with 125 1 transmission respectively 25 1 transmission The motors are driven by a H bridge with a 14 7 kHz PWM signal The PWM signal can be...

Страница 10: ...to flow against the supply voltage in this case Additionally the freewheel stabilizes the torque for lower values It is possible to deactivate the motor bridge by removing the jumper J4 Mot for test...

Страница 11: ...ble sensor system with 10 sensor slots you can test different setups For example it is possible to plug all 4 sensors into the front slots or you can place 2 sensors on the front and 2 sensors on the...

Страница 12: ...or slots For example they can be plugged into the three slots on the back to detect and to analyse coloured objects You can also plug the 3 sensors into the slots at the bottom side of the robot to an...

Страница 13: ...ontacts plus minus and 3 signal bits All ports have additional functions Port Signal 1 Signal 2 Signal 3 Information X11 LED1 LED2 LED3 Digital interface X12 SCL SDA LED4 I C interface X13 RXD TXD KEY...

Страница 14: ...09 2015 1 6 Other hardware components 1 6 1 Free programmable Coding LEDs The two red LEDs LED 1 and LED 4 and the two blue LEDs LED 2 and LED 3 are coding LEDs They can be controlled by own programmi...

Страница 15: ...6 Programming flashes during the programming process LED 7 Charging information flashes during the charging process 1 6 3 Voltage switch Charging The voltage switch S1 separates the battery voltage f...

Страница 16: ...1 Necessary tools You need the following tools for the assembly Soldering iron with sponge electronic solder wire Electronic cutting pliers Small recessed head screwdriver Universal pliers Small hamm...

Страница 17: ...it knows exactly the temperature of its tip So it is able to readjust the temperature if its necessary It is very helpful to have no temperature drop during soldering You should select a temperature o...

Страница 18: ...mperature For very sensitively components you can do the following First you solder 3 5 seconds if the soldering point isn t good enough yet you let the component cool down and afterwards you solder a...

Страница 19: ...art gets connected to the soldering pad The finished soldering point should look like this The leg of the electronic part has to be fixed at the soldering pad If it is not yet fixed you have to solder...

Страница 20: ...er 08 09 2015 2 3 Placing components onto the circuit boards This section describes how to place the electrical components onto the circuit boards First of all an overview of the plain boards Board fi...

Страница 21: ...Construction manual Robot kit NIBO burger 08 09 2015 Board second level http nibo nicai systems de 21...

Страница 22: ...ction manual Robot kit NIBO burger 08 09 2015 Boards and the sensor bricks At first the boards NOT the sensor bricks must be separated from the frame e g by an universal pliers http nibo nicai systems...

Страница 23: ...In order not to damage the single boards with the pliers you can do the middle separation without it on a flat surface Tip If you first don t separate the sensor brick boards it is much easier to sold...

Страница 24: ...Construction manual Robot kit NIBO burger 08 09 2015 The wings are for decoration and they protect the front sensors They can be separeted by slight turning from board http nibo nicai systems de 24...

Страница 25: ...Construction manual Robot kit NIBO burger 08 09 2015 All in all you get this circuit boards http nibo nicai systems de 25...

Страница 26: ...ic parts looks very similar it is advisable to sort them http nibo nicai systems de 26 3 x LED white milky round 2 x LED blue big transparent flattened LED green transparent leg is marked black 3 x Ph...

Страница 27: ...ated to 5 pin headers before assembly Typ A right angle headers Typ B straight headers Because all headers must be seperated to 5 pin configuration you have to count 5 contacts and break the strip wit...

Страница 28: ...Construction manual Robot kit NIBO burger 08 09 2015 The header is easy to break We need at large 7 right angle 5 pin headers and 8 straight 5 pin headers http nibo nicai systems de 28 7 x 8 x...

Страница 29: ...onic parts onto the circuit boards of the bricks Top sides of the boards Bottom sides of the boards 2 3 2 1 Placing components onto the bottom sides The little mini resistors with the value 120 code b...

Страница 30: ...ring pads RB 2 3 2 2 Placing components onto the top sides Part 1 IR sensor bricks We start with the top sides of the IR sensor bricks Place four IR leds into the upper soldering pads marked with LED...

Страница 31: ...8 09 2015 Place four black phototransistors into the lower soldering pads You have to pay attention to the polarity The short leg must be placed into the rectangular soldering pad The result should lo...

Страница 32: ...upper soldering pads marked with LED You have to pay attention to the polarity The short leg must be placed into the rectangular soldering pad Place three transparent phototransistors into the lower...

Страница 33: ...uction manual Robot kit NIBO burger 08 09 2015 The result should look like this Now the right angle 5 pin headers have to be soldered onto the bottom sides of all sensor boards http nibo nicai systems...

Страница 34: ...nstruction manual Robot kit NIBO burger 08 09 2015 To get best sensor values it is advisable to shield all phototransistors with 3 mm long pieces of heat shrinkable tubing http nibo nicai systems de 3...

Страница 35: ...Construction manual Robot kit NIBO burger 08 09 2015 Now you can separate the individual sensor bricks from the frame http nibo nicai systems de 35...

Страница 36: ...burger All components have to be placed on the bottom sides of the circuit boards Four 5 pin right angle sockets have to be placed onto the bottom sides of the boards into the soldering pads J1 B J2 B...

Страница 37: ...Each board gets one IR led They have to be placed into the marked soldering pads see the photos You have to pay attention to the polarity The short leg must be placed into the rectangular soldering pa...

Страница 38: ...9 2015 Later on the side plates have to be plugged with other plates Therefore it is important to solder the headers at right angle onto the boards Finished bottom sides of the boards Finished top sid...

Страница 39: ...ldering pad PT53 and PT54 are for measuring the motor rotation speed The phototransistors have to be put through the hole from the BOTTOM side so that the shorter leg can be soldered onto the shorter...

Страница 40: ...Construction manual Robot kit NIBO burger 08 09 2015 Now the legs are soldered The result should look like this http nibo nicai systems de 40...

Страница 41: ...ides of the boards The 10 nF ceramic multilayer capacitors imprint 103 have to be placed into the soldering pads C53 and C54 on the top sides of the boards You don t have to pay attention to the polar...

Страница 42: ...have to pay attention to the polarity The value of the resistors is indicated by a four band colour code on the resistor which is explained in the appendix R1 R16 are on board R20 R48 are on board Val...

Страница 43: ...5 The following overview diagram shows the placement of the resistors on the main circuit boards http nibo nicai systems de 43 120 180 180 4 7k 4 7k 68 68 47k 47k 180 180 4 7k 4 7k 4 7k 4 7k 120 120 4...

Страница 44: ...Construction manual Robot kit NIBO burger 08 09 2015 http nibo nicai systems de 44 3 3 4 7k 4 7k 820 820 820 820 820 820 820 820 47k 47k 120 120 3 3...

Страница 45: ...art Before soldering you have to pay attention that the ring on the diode is soldered at the side of the vertical line of the symbol Tip The Schottky diodes are labeled with BAT85 in small letters The...

Страница 46: ...Ceramic plate capacitors The both ceramic plate capacitors C23 and C24 have a capacity of 22 pF imprint 22 You don t have to pay attention to the polarity They are placed on board 2 3 8 Crystal The cr...

Страница 47: ...e direction as the mark on the board The ICs will be inserted later 2 3 8 2 Voltage controller IC The 3 3 V voltage controller IC must be placed onto board into the soldering pad IC3 Therefore the mid...

Страница 48: ...cement you have to pay attention to the polarity The flat side of the transistor is marked on the circuit board T10 is to find on board the others are to find on board Important The robot must never b...

Страница 49: ...ort leg has to be soldered into the rectangular soldering pad 2 3 9 4 Blue leds The leds LED2 and LED3 also have two legs a short one cathode and a long one anode The body of these components is flatt...

Страница 50: ...If J5 is not connected the leds LED1 LED4 are deactivated Than you are free to use the port bits of these leds at X11 and X12 After soldering we connect J5 with the bridge 2 3 9 6 Jumper 3 pole The 3...

Страница 51: ...ositive connections are marked with sign on the board The positive pin of the electrolytic capacitor is the long leg and the negative one is the short leg The negative connections are implemented as r...

Страница 52: ...board 2 3 10 2 Right angle sockets 5 contacts The 7 right angle sockets with 5 contacts have to be soldered into the pads X5 X7 and J1 1 J4 1 You don t have to pay attention to the polarity All socke...

Страница 53: ...Construction manual Robot kit NIBO burger 08 09 2015 The result should look like this The sockets should be planar onto the boards as possible http nibo nicai systems de 53...

Страница 54: ...e labels of the respective battery pack the important side is the side with the soldering contacts the outside contact plates The labels of the board and of the pack only has to suit at the side with...

Страница 55: ...uction manual Robot kit NIBO burger 08 09 2015 The cable strap has to put through the two holes of the board Then the cable strap is to be fastened e g with an universal pliers http nibo nicai systems...

Страница 56: ...5 The cable strap has to be cut shortly with an electronic cutting pliers The other battery pack has to be fixed in the same way Finally the packs must be soldered each at two contacts at the top side...

Страница 57: ...0 have to be placed at this side of the board 2 3 11 1 Straight 5 pin headers Soldering the straight 5 pin headers J1 2 J2 2 J3 2 and J4 2 you have to pay attention that they are aligned at right angl...

Страница 58: ...ller pins are not bent The part is polarity safe The USB socket is soldered at large at 6 soldering pads Place the USB socket at the bottom side of the board and solder it at the top side of the board...

Страница 59: ...Construction manual Robot kit NIBO burger 08 09 2015 Finished top side of board http nibo nicai systems de 59...

Страница 60: ...Construction manual Robot kit NIBO burger 08 09 2015 Finished bottom side of board http nibo nicai systems de 60...

Страница 61: ...Construction manual Robot kit NIBO burger 08 09 2015 Finished top side of board http nibo nicai systems de 61...

Страница 62: ...Construction manual Robot kit NIBO burger 08 09 2015 Finished bottom side of board http nibo nicai systems de 62...

Страница 63: ...and the correct installation respectively Finally check the board for short circuits and make sure that neither on the top side nor on the bottom side of the board remains any solder or wire Importan...

Страница 64: ...els must be pressed onto the two short steel axes 3 x 24 mm Therefore you have to press the axis with the help of a hammer into the side of the gearwheel with the smaller gear please use e g a paper p...

Страница 65: ...nails must have some distance to the axis Afterwards the gearwheels should be in the middle of the axis Now the both white double gearwheels have to be pressed onto the two short steel axes 3 x 24 mm...

Страница 66: ...s have to be pressed onto the two long steel axes 3 x 37 mm The procedure is analog to the red gearwheels Pay attention to the different distances positions see the picture stencil With the help of th...

Страница 67: ...below The soldering contacts of the motors must face downwards In case of one motor does not fit correctly into the hole the hole can be carefully widened with a 6mm drill bit We start with the left...

Страница 68: ...help of capillary action you tin the respective point sparse with tin solder and heat the point afterwards about 10 seconds with the soldering iron Because of the capillary action the tin solder will...

Страница 69: ...08 09 2015 The result should look like this Now the both remaining connections red arrows must be soldered from the bottom side of the main circuit board Then the motor contacts have to be soldered t...

Страница 70: ...w the right side has to be assembled analog The result should look like this Now the left transmission unit transmission ratio 125 1 will be assembled The kit contains two sorts of plastic distance ri...

Страница 71: ...hen the axis must be put with the distance ring ahead into the borehole A Afterwards you have to put the short axis with the white gearwheel the little gearwheel outwards into the borehole C Then the...

Страница 72: ...Construction manual Robot kit NIBO burger 08 09 2015 The transmission is fixed by board the electronic parts of board point inwards http nibo nicai systems de 72...

Страница 73: ...al Robot kit NIBO burger 08 09 2015 The 5 pin headers must be connected to the 5 pin sockets of board Now the left transmission unit is completed The right unit has to be assembled analog http nibo ni...

Страница 74: ...reduce the operating noise by careful greasing the transmission see also page 82 2 5 3 Mounting the polyamid pin First we put the large screw from the top side through board Then the screw is fixed f...

Страница 75: ...pin must be screwed on 2 5 4 Attaching the wheels The both wheels have to be put onto the drive shafts so that they are performing well To avoid damaging the transmission you shall press e g with an e...

Страница 76: ...he ICs have to point in the same direction as the marks on the board IC1 ATmega16 IC2 74HC139 IC4 LM358 IC5 ATtiny44 ICs are sensitive to electrostatic damage Electrostatic sensitivity means that thes...

Страница 77: ...n manual Robot kit NIBO burger 08 09 2015 2 5 6 Assembling of the second layer Now the second layer will be assembled First we fix the four bolts with four lenshead screws on board http nibo nicai sys...

Страница 78: ...e connect board with the side boards in the right orientation and fix it with four screws All plug in contacts must be connected Note The arrow sysmbols on the boards show the driving direction Now th...

Страница 79: ...e all sensor bricks 3 Take off the motor jumper J6 4 Insert 4 x Micro AAA 1 2V rechargeable batteries Now the NIBO burger has to be switched on then the white LED 5 near to the switch must flash 3 1 P...

Страница 80: ...hold button 1 and switch on the robot Then LED 1 must flash Now loose the button LED 1 flashes shortly and the test program has been started We start with the test of the IR sensor bricks If you place...

Страница 81: ...h testing the odometry sensors We want to verify that the phototransistors are able to detect the turns of the wheels Now turn carefully from the top side the left red gear While doing this LED 1 and...

Страница 82: ...can reduce the operating noise by greasing the transmission for example with a greasy ointment and a toothpick Grease both sides of the axes at the contact points of axes and circuit boards Additional...

Страница 83: ...e robot at position 2 of the card Calibration the three colour sensors must be above the white area Now push button 2 Then LED 2 must flash The calibration is now finished and stored With the Colour C...

Страница 84: ...2 All necessary drivers for NIBO bee All necessary drivers for NIBO burger RoboDude transmission programm for hex and xhex files C library and test programms for NIBO 2 C library and test programms fo...

Страница 85: ...onments for NIBO burger 3 6 1 NIBO burger Coding Tutorial Possibility 1 You can easily start programming with the interactive NIBO burger Coding Tutorial It guides you through all functions of the rob...

Страница 86: ...the Roboter CC platform Roboter CC is an open source platform You can create own robotic projects manage and compile them at the platform You can also easily test existing program examples All projec...

Страница 87: ...nal information ideas questions and answers http www roboter cc http nibo nicai systems de 87 1 Choose robot type and programming language 2 Write the program code 3 Transfer the resulting XHEX file w...

Страница 88: ...torial Possibility 3 It is also possible to program the NIBO burger in ARDUINO A german programming tutorial inclusive installation manual with lots of examples and explanations is to find here http w...

Страница 89: ...the jumpers J1 J2 and J3 is changed into the CHARGE position see photos Normal operation RUN Charging mode CHARGE The white LED 7 shown on the photos indicates the state of charge LED7 meaning off no...

Страница 90: ...io you have to disassemble the robot take the second layer off pull the wheels off and take the both side boards and off Then you also have to take the axes off all gears stay at the same position on...

Страница 91: ...ing it is necessary to bend the both transistors nearby the short axes a little bit Now the both side boards have to be connected and the robot can be completed as shown before Then NIBO burger is rea...

Страница 92: ...NIBO burger 08 09 2015 3 9 Additional information The NIBO Wiki provides additional information like FAQ s service links for replacement parts technical details and much more http www nibo roboter de...

Страница 93: ...our code colour band 1 band 2 band 3 factor band 4 tolerance silver 1 10 2 10 m 10 gold 1 10 1 100 m 5 black 0 1 100 1 brown 1 1 1 101 10 1 red 2 2 1 102 100 2 orange 3 3 1 103 1 k yellow 4 4 1 104 10...

Страница 94: ...M358N IC4 1 ATTINY44A PU IC5 2 IR LED3MM IR55 IR56 IR1X IR2X IR3X IR4X 3 STL3G J1 J2 J3 8 BL5W J1 1 J2 1 J3 1 J4 1 J1 B J2 B J3 B J4 B 8 STL5G J1 2 J2 2 J3 2 J4 2 J1 A J2 A J3 A J4 A 7 STL5W J1X J2X J...

Страница 95: ...0 R4 R5 R6 R7 R8 R9 R10 R11 R38 R46 R47 R53 R54 7 120 R EU_0204 7 RA1X RA2X RA3X RA4X RA5X RA6X RA7X 7 2 2 k R EU_0204 7 RB1X RB2X RB3X RB4X RB5X RB6X RB7X 1 M9040P S1 3 10 XX SW1 SW2 SW3 5 BC327 40 B...

Страница 96: ...org projects avrdude free programmer software suits for NIBO robots Roboter CC http www roboter cc Online code compiler robotic online community especially for robotic projects with lots of examples...

Страница 97: ...NT AC110 61F GPN V50 AC110 70177 1011 F03 03 HAS B F03 03 HAS C F03 31 81513201 81513535 81550401 FT1A C12RA W 88981106 H2CAC24A R88A CAGA005S R88A CRGB003CR E R88ARR080100S R88A TK01K DCN1 1 DTB4896...

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