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TOBI - The Tool Bot - TOBI v.3 — Parallax Forums

TOBI - The Tool Bot - TOBI v.3

TheGrueTheGrue Posts: 114
edited 2010-10-22 14:46 in Robotics
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This is my first robot built from scratch and I am new to robotics. I haven't played with electronics for over 25 years and I have a little programmed experience in many versions of Basic dating all the way back to the days of the TI-99 computers.
In short, I am a total Newbie in Robotics and if I can do this, anyone can too.

Started on 2009.05.02
Ever since I first read about a robot that had thermal sensors that enabled it to follow its human controller in the Summer 2007 edition of Robot Magazine, I have dreamed of building a Robot to lug around my Laptop and all of my networking tools. I also thought that it would be so cool as an IT Consultant to have built my own personal robot to carry my tools around.

Enter TOBI
TOBI used to be ToB1 for tool bot 1 but my wife liked the name so that is how the name was chosen. I decided that TOBI was going have 6 phases of development. Each phase has a mission and will may include the functions of prior phases.

TOBI 1 - Development on the run (Completed 2009.05.29)
TOBI 1 will have the same Chassis as all future versions except TOBI 6. It will be able to carry my Laptop and tools (when I trust it or myself enough) As seen in the picture, it is capable of carrying my current Laptop/tool case. It will be completely remote controlled. It has no sensors and is capable of being driven into trouble like off curbs and into objects. I will use this to test the types of sensors and mounting locations for my sensors.
Parts List for TOBI 1
TOBI 2 - Propeller conversion (completed 2009.11.14)
TOBI 2 ( ADDENDUM: Convert to Propeller Controller) ADDENDUM: Replace the BS2 controllers with the Propeller Controller. Abandon the Position Controllers and directly control the HB-25's with standard servo pulses.
Parts Added:
TOBI 3 - Semi Autonomous plus idiot proofing (Completed 2010.06.25)
Tobi_1_Pics_286.jpg

TOBI 3 will be remote controlled with a new Propeller powered remote. It will be equipped with the added idiot sensors that will prevent it from running into most objects and avoid obstacles using the PING)))'s while doing it. Or it can be remotely controller just like prior versions.
ADDENDUM: The prior wireless remote system was scrapped for several reasons. The first being that the units did not have RSSI signal strength which I will use as a second mode for TOBI to lock onto the correct thermal object. The new units that I am looking to purchase run on 3.3 V [the same as the Propeller] and will enable me to make a smaller remote controller. Also they are transceivers so that TOBI can talk back to the remote. I am also getting a 3-Axis accelerometer for the remote.I had to add 2 more PING)))'s to get better object avoidance and then I added bumpers to protect the PING)))'s. Then it was a very simple addition to add the bumper sensors to them.
Parts Added:
TOBI Hard at work:
Tobi_1_Pics_241.jpg

I am currently working on TOBI v.4

For more info on the build and videos please see my sites below:
pdf
pdf
TOBI - Schematics 2010.06.20.0025 A.pdf
41K
pdf
pdf
TOBI - Schematics 2010.06.20.0025 B.pdf
30K
pdf
pdf
TOBI - Schematics 2010.06.20.0025 C.pdf
21K
zip
zip
TOBI_3_v47 - UPEW Archive [Date 2010.07.04 Time 20.10].zip
59K

Comments

  • Lab RatLab Rat Posts: 289
    edited 2010-09-13 05:47
    dude that has a hardcore drive train i know what those printers weigh and they are not at all light
  • TinkersALotTinkersALot Posts: 535
    edited 2010-09-13 07:34
    This is such a cool project. Inspirational in scope and I admire its payload capabilities.
  • TheGrueTheGrue Posts: 114
    edited 2010-09-21 22:17
    TOBI's weakest link is the Castor. I am not willing to give up on the beautifully made Castor from Parallax but what you don't see in the picture is all the JB-Weld that I used to keep it from coming apart again.:smilewinkgrin:
  • P!-RoP!-Ro Posts: 1,189
    edited 2010-09-22 18:00
    Perhaps you should weld up a frame for the next one? BTW, it was cool getting to see this robot at UPEW.
  • TheGrueTheGrue Posts: 114
    edited 2010-09-26 19:05
    @NikosG, Was there a reason that you quoted almost all of my post on TOBI 3? I just don't see that you made any comments about the project.
  • NikosGNikosG Posts: 705
    edited 2010-10-06 03:12
    Hi TheGrue,
    Your project is amazing! Congratulations! I was hooked with this!
    It was un inspiration for me to start my own project! It's about a mini rover.
    I've used 2 Motor Mount and wheel kit #27971 (one kit more than your project).
    Thank you for your post about TOBI BOT!
    It is very helpful!
    Nikos_rover.JPG
    320 x 240 - 28K
  • NikosGNikosG Posts: 705
    edited 2010-10-06 11:33
    Hi John,
    What type of battery use the "TOBI BOT"?
    How many minutes/hours can use the battery before charge it again?
    I've started a similar project (a mini 4wd rover). At the moment I use a BS2 board.
    I have achieved to control the robot with a IR remote control.
    The only problem I have is the battery. It lasts only about 10 min !
    Nikos_rover2.JPG
    429 x 324 - 46K
  • RobotWorkshopRobotWorkshop Posts: 2,307
    edited 2010-10-06 12:03
    10 Minutes?? That isn't long at all. What size battery are you using on your robot? Also, is this a NEW battery or an old one?

    You'll probably want to try and get some measurements to see how much current you are using when the robot is moving and at rest.

    Robert
  • TheGrueTheGrue Posts: 114
    edited 2010-10-06 23:53
    NikosG wrote: »
    Hi John,
    What type of battery use the "TOBI BOT"?
    How many minutes/hours can use the battery before charge it again?
    I've started a similar project (a mini 4wd rover). At the moment I use a BS2 board.
    I have achieved to control the robot with a IR remote control.
    The only problem I have is the battery. It lasts only about 10 min !

    I use a 12V lead acid GelCell battery that is a 7Ahr battery. The battery is used and when I got it rated by the local battery store, they said that it was only about 40% what it should have been. They sold me a battery conditioner which I built into a docking station. TOBI can run for several hours even though his battery is not fully functional. Please see my page at the bottom of my posts to see more specs and the type of charger that was recommended to me. The charge time is only about 1-4 hours and then the charger goes into desulphation mode. There is picture of the charger in its' plastic box. It can handle things as large as car batteries. Since you have two Wheel and Motor Mount kits, I would recommend twice the battery capacity that TOBI has. He does get a little tired after a long day hauling computers and printers around.
  • NikosGNikosG Posts: 705
    edited 2010-10-07 12:49
    Thank you Robert,
    Actually I bought this battery 4 years ago and I hadn't never use it before.
    In addition I tried to charge it with wrong way!
  • NikosGNikosG Posts: 705
    edited 2010-10-07 12:57
    Thank you John,
    I' ll try to find a battery conditioner like yours! How much does it costs?
    At the moment I gave the battery to a friend and he charged it properly.
    Now it lasts almost 1 hour and 45 min !
  • RobotWorkshopRobotWorkshop Posts: 2,307
    edited 2010-10-07 13:05
    From the pictures it looks like you are also using a 12v 7ah SLA battery. I've used these batteries extensively in many robots. From past experience I can say that your battery is probably toast! If the SLA batteries sit for a length of time without a full charge they can go bad. When that happens the internal resistance goes up and you can never get their rated capacity. It may look like the battery is charged but I bet if you measure the voltage under load it will drop quickly. I've seen some 12V batteries (that showed over 12v open circuit) which dropped to well under 6V when a load is applied.

    Most SLA batteries should not be deeply discharged, they need to be topped off after each use, and should be occasionally charged to top them off when stored.

    Robert
  • TheGrueTheGrue Posts: 114
    edited 2010-10-07 14:49
    @NikosG I concur with RobotWorkshop that your battery is probably toast. TOBI's is never going to give me full capacity for the same reason. My charger only cost me $60 [you can almost make out the price in the picture of the charger].
  • RobotWorkshopRobotWorkshop Posts: 2,307
    edited 2010-10-07 16:30
    BTW: TOBI is a cool project! With all the weight it carries maybe a pair of castors would handle it better. Have you had any issues with the tires compressing when it is loaded?

    Robert
  • TheGrueTheGrue Posts: 114
    edited 2010-10-07 21:42
    Yes and no. Yes because TOBI's air inflated tires keep losing pressure. I need to add stop-leak to see if that will resolve the issue. Otherwise when the tires are properly inflated the answer is no. I am glad that I assembled the tires with the valve stem outward. It makes it easier to check the pressure. Really though, I haven't inflated them much since I first assembled them and only noticed that they were flat when this picture was taken.
  • VernVern Posts: 75
    edited 2010-10-21 23:21
    Would solid tires perhaps solve the problem? Like those found on everyones favorite childhood wagon?
  • TinkersALotTinkersALot Posts: 535
    edited 2010-10-21 23:49
    Do you have a schematic? Cuz, this bot is pretty darned cool, and that should be part of the "how do I make one" documentation set.
  • TheGrueTheGrue Posts: 114
    edited 2010-10-22 08:02
    The Schematics were on my main build page but I just posted them on here for TOBI v.3 and I posted the code of TOBI v.3. Keep watching the main build page at letsmakerobots.com for TOBI's upgrade to V.4
  • NikosGNikosG Posts: 705
    edited 2010-10-22 14:46
    TheGrue wrote: »
    Yes and no. Yes because TOBI's air inflated tires keep losing pressure. I need to add stop-leak to see if that will resolve the issue. Otherwise when the tires are properly inflated the answer is no. I am glad that I assembled the tires with the valve stem outward. It makes it easier to check the pressure. Really though, I haven't inflated them much since I first assembled them and only noticed that they were flat when this picture was taken.

    Hi john,
    I think that the tires are designed in order to put them with the valve inward.
    Maybe the installation in the opposite side causes problems with the air pressure.
    In my rover I put the tires as it showed in the instructions and I didn’t realize any problem. Actually I agree with you that are more difficult if you have to check the pressure.
    I also used a 7808 instead of the circuit with the LM317/LM318 to convert the voltage from 12V to 7,85V (In fact I failed to take the correct voltage with the LM317 circuit that you suggest). BTW here is a video of the first version of the robot: http://www.youtube.com/watch?v=JJoCrWpT5Lk
    I wish to achieve something similar with the TOBI bot. (to say the truth I don’t know yet what exactly I want to do!)
    For one more time the publication of your project is very helpful!!
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