By Ray Grissom Builder s Guide
Contents Preface...2 Grade Level Appropriateness...2 Using This Guide...3 Safety Information...4 Parts Identification...5-8 Student Parts Assemblies...9 Remote Control Setup... 10 Construction Tips...11-17 Wheelee Bot Assembly...20-33 Activities... 34 Gripper Assembly... 35 Buggee Bot Assembly...38-59 Activities... 60 Buggee Bot Moving Gripper Assembly...61-62 Pickee Bot Assembly...63-87 Activities... 88 Accessories Section Ball Rack Assembly...89-94 Written by Ray Grissom. Content advising by Paul Uttley. Graphics by Todd McGeorge. 2014 Pitsco, Inc., 915 E. Jefferson, Pittsburg, KS 66762 All rights reserved. This product and related documentation are protected by copyright and are distributed under licenses restricting their use, copying, and distribution. No part of this product or related documentation may be reproduced in any form by any means without prior written authorization of Pitsco, Inc. All other product names mentioned herein might be the trademarks of their respective owners. Note about photocopying: By honoring our copyright, you enable us to invest in research for education. 1
Preface This builder s guide has been developed to provide students with positive experiences in robotics engineering. With the assistance of this guide, students will learn to use the TETRIX PRIME parts to design and construct three different robots. After using this guide, students should be able to use the TETRIX PRIME parts to construct a robot of their own design. Grade Level Appropriateness The activities used in this guide are targeted toward middle school students. With some additional instruction, upper elementary students should be able to successfully complete the activities. Additionally, secondary teachers could use these parts to provide an exploratory experience in engineering. 2
Using This Guide The activities in this guide build upon each other. The activities should be completed in the order in which they are presented. Concepts explored in one activity might not be repeated in later activities, but students could be required to understand the concepts in order to be most successful. 3
Safety Information Mechanical Keep fingers, hair, and loose articles of clothing clear of gears and moving parts. Never pick up the robot while it is moving or the servo motors are running. Remove any burrs caused by cutting the metal beams. Electrical Make sure the power is turned off when the robot is not in operation. Do not operate the robot in a wet environment. Always power down the robot before making any changes. Use caution when working with bare wires to avoid creating a short circuit situation. Route wires carefully, and secure them if necessary to avoid damage to the wire or its insulation. Mount the battery pack and remote receiver securely. 4
Parts Identification The beams are named by the number of small holes on one side of the beam. Do not select beams by counting the larger holes. Beams 1 2 3 4 To identify TETRIX PRIME beams, count the small holes. The example above is a 4-Hole Beam. 2X 15-Hole Beam 40207 2X 13-Hole Beam 40206 4X 8-Hole Beam 40205 4X 7-Hole Beam 40204 4X 6-Hole Beam 40203 4X 5-Hole Beam 40202 4X 4-Hole Beam 40201 5
Internal Connectors 4X 3-Way Beam Connector 40212 4X 90-Degree Beam Connector 40211 4X Tee Beam Connector 40213 4X Beam End Connector 40214 4X Beam Extension 40322 4X Straight Beam Connector 40215 6
Brackets and Fasteners 10X 90-Degree Bracket 40208 10X 60-Degree Bracket 40209 10X Tee Bracket 40210 24X Quick Rivet Peg 40220 24X Quick Rivet Connector 40219 25X Thumbscrew 40323 24X Wing Nut 40221 10X 90-Degree Cross Block Connector 40217 10X Straight Block Connector 40216 4X Beam Attachment Hub 40228 7
Motion Parts 4X 90 mm Wheel & Tire 40222 4X 80-Tooth Gear 40224 4X 40-Tooth Gear 40223 4X Servo Shaft Hub 40230 2X Battery Holder 40236 6X 80 mm Axle 40225 6X 40 mm Axle 40226 12X Bronze Bushing 40227 8X Shaft Collar 40229 25X Setscrew 40516 8
Student Parts Assemblies Continuous Rotation Servo Battery Charger Standard Servo Power Switch Gripper Assembly Ball Pylon/Container 9
Remote Control Setup Your TETRIX PRIME robot is controlled by a standard 2.4 GHz remote controller and an accompanying receiver mounted to the robot. Transmitters are connected to specific receivers, allowing multiple transceiver combinations to be used in the same area. 1X Receiver 1X Controller Transmitter and Receiver Connection Procedure: The wireless game pad transmitter must be linked to the receiver with a unique ID code in order to function properly. To do this, follow these steps. 1. Make sure the transmitter is switched OFF. 2. Install four AA batteries in the transmitter. Connect the battery pack to the receiver; the red LED will be flashing. 3. Press the CONNECT button on the side of the receiver. The red LED will change to a rapid flashing rate. 4. Switch the power slide switch on the transmitter ON. 5. Press and hold down the transmitter CONNECT push button. 6. The red LED on the receiver will stop flashing. Release the transmitter CONNECT button. 7. The transmitter and receiver are now connected and ready for operation. The transmitter might require periodic adjustment. Located next to each joystick are trimmer wheels used to adjust the neutral position of each channel. Trim each channel by moving the wheel until no movement of the servo occurs when the joystick is in the neutral position. The direction of movement for servos might change due to servo positioning. To change the direction of movement, use a small screwdriver to change the position of the NOR/REV switches on the transmitter. Caution: Do not use a pencil to adjust the NOR/REV switch position. The material used for pencil lead conducts electricity and could damage your controller. 10
Construction Tips Connectors fit inside beams and come in straight, 90-degree, tee, and corner designs. 11
Quick rivets and pegs are a quick option to use when securing connectors. Press the rivet in place on the beam and use the peg to spread the rivet to secure the connection. Using quick rivets on two sides of the connection will make it more stable. 12
Joints can be made more permanent by using a thumbscrew and wing nut to secure the beams and connectors. 13
Brackets can also be used to connect beams. Brackets are available for a tee connection, 60-degree connection, or 90-degree connection. Brackets should be used in pairs, with two brackets on opposite sides of a beam. Brackets are secured using quick rivets and pegs or thumbscrews and wing nuts. 14
End connectors, straight block connectors, and 90-degree cross block connectors are secured using a thumbscrew through the beam and into the connector. 15
After the thumbscrew is used to secure the end of the connector, a quick rivet and peg or a thumbscrew and wing nut are used to secure the intersecting beam. 16
Anytime an axle is used, it should be supported at two points. Place a bronze bushing on opposite sides of a beam and place the axle through the bushings. Secure the axle to a stop collar, wheel, gear, or hub. 17
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Wheelee Bot The Wheelee Bot is a basic three-wheel robot. Two servos are needed: one continuous run servo is used for a drive wheel, and one standard servo provides steering. As an option, a gripper assembly may be added for picking up objects. 19
Wheelee Bot Assembly Step 1 For this step you will need: Quantity Part 1 15-Hole Beam 1 Wheel & Tire Assembly 1 Continuous Rotation Servo Assembly 2 Setscrew* 1 40 mm Axle 2 Bronze Bushing 1 Thumbscrew 15-Hole Beam Thumbscrew Continuous Rotation Servo 40 mm Axle Setscrew Setscrew Bronze Bushings Wheel & Tire *The setscrew might already be installed in the proper location so another setscrew will not be needed. 20
Step 1A Step 1B Step 1C 21
Step 2 For this step you will need: Quantity Part 2 Wheel & Tire Assembly 2 4-Hole Beam 2 Shaft Collar 2 40 mm Axle 2 90-Degree Beam Connector 4 Setscrew 4 Bronze Bushing 4-Hole Beam 40 mm Axle Shaft Collar Setscrew Setscrew Bronze Bushings 90-Degree Beam Connector 22
Step 2A Step 2B 2X Step 2C Step 2D Step 2E 23
Step 3 For this step you will need: Quantity Part 1 8-Hole Beam 4 Quick Rivet Connector 4 Quick Rivet Peg Quick Rivet Peg Quick Rivet Connector 8-Hole Beam Quick Rivet Connector Quick Rivet Peg 24
Step 3A Step 3B 25
Step 4 For this step you will need: Quantity Part 1 Beam Attachment Hub 2 Thumbscrew 1 40 mm Axle 1 Setscrew 40 mm Axle Beam Attachment Hub Setscrew Thumbscrew 26
Step 4A Step 4B 27
Step 5 For this step you will need: Quantity Part 1 Standard Servo Motor Assembly 2 Bronze Bushing 1 Setscrew 1 Thumbscrew Standard Servo Motor Assembly Setscrew Bronze Bushing Thumbscrew 28
Step 5A Step 5B 29
Step 5C Step 5D 30
Step 6 For this step you will need: Quantity Part 2 Battery Mount Bracket with Bungee Band 2 Wing Nut 2 Thumbscrew Battery Mount Bracket Thumbscrew Wing Nut 31
Step 6A Step 6B 32
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Making It Move Install the battery using the Bungee Band provided. Connect the continuous run servo motor to Channel 3 of the receiver. Connect the standard servo motor to Channel 1. Connect the battery to the BAT connection. Secure the receiver and wires so they do not become entangled in moving parts. Turn on the remote controller and test the operation of the Wheelee Bot. If the motion does not correspond with the joystick movement, use a screwdriver to change the position of the NOR/REV switches for the appropriate channel. If necessary, use the trimmer controls to stop all movement of the servos when the joystick is in the neutral position. Wheelee Bot Activities After completing the construction of the Wheelee Bot, it is time to have some fun. Practice driving the Wheelee Bot to familiarize yourself with the way it works. Activity 1 Place a piece of masking tape on the floor and set cups upside down to resemble cones. Place the cones in a straight line beginning 24 inches from the tape with 24 inches between each cone. Put another piece of tape on the floor 24 inches past the last cone. Place your Wheelee Bot on the side of the tape opposite the cones. Drive the Wheelee Bot through the cones in a slalom pattern. Use a stopwatch to time how long it takes to drive Wheelee Bot through the slalom course to the tape at the other end of the cones. Try to complete the slalom faster than your partner without hitting the cones. Activity 2 After completing the build of the Wheelee Bot, you can add the optional Gripper Assembly. Refer to the instructions on the following page for attaching the gripper. Assemble the Ball Rack. Refer to the Accessories Section for instructions on how to assemble the Ball Rack. Place four balls on the crossbar of the Ball Rack. Place four small cups about four feet from the Ball Rack. Use the remote controller to maneuver Wheelee Bot into position and pick up a ball using the gripper. Drive the robot to one of the cups and place the ball into the cup. Harvest the remaining balls from the rack and place them in the other cups. Make it a competition by timing how long it takes to move all four balls from the rack to the cups. Activity 3 With permission from your instructor, make modifications to improve the performance of the Wheelee Bot. Some improvement ideas include reducing the turning radius, improving the stability, or improving the steering response. 34
Wheelee Bot Gripper Assembly Step 1 Step 2 Step 3 Step 4 Step 5 Step 6 Step 7 Step 8 35
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Buggee Bot The Buggee Bot is a basic rover-type robot. Two continuous run servos are used for both propulsion and steering. The Buggee Bot can be driven in tank mode or arcade mode. As an option, a gripper assembly utilizing a standard servo may be added for picking up objects from differing heights. 37
Buggee Bot Assembly Step 1 For this step you will need: Quantity Part 1 8-Hole Beam 1 4-Hole Beam 1 Tee Beam Connector 2 End Beam Connector 6 Quick Rivet 6 Quick Rivet Peg End Beam Connector End Beam Connector Quick Rivet Peg Quick Rivet 8-Hole Beam Tee Beam Connector 4-Hole Beam Step 1A 38
Step 1B Step 1C Step 1D 39
Step 2 For this step you will need: 2X Quantity Part 2 7-Hole Beam 2 90-Degree Beam Connector 2 Quick Rivet 2 Quick Rivet Peg Quick Rivet Peg Quick Rivet 90-Degree Beam Connector 7-Hole Beam 40
Step 2A Step 2B 41
Step 3 For this step you will need: Quantity Part 1 13-Hole Beam 2 Thumbscrew 2 Quick Rivet 2 Quick Rivet Peg Quick Rivet Peg Quick Rivet Thumbscrew 13-Hole Beam Thumbscrew 42
Step 3A Step 3B 43
Step 4 For this step you will need: Quantity Part 4 60-Degree Bracket 4 Quick Rivet 4 Quick Rivet Peg 60-Degree Bracket Quick Rivet Quick Rivet Peg Step 4A 44
Step 4B Step 4C 45
Step 5 For this step you will need: 2X Quantity Part 2 Continuous Rotation Servo Assembly 2 Wheel & Tire Assembly 2 40 mm Axle 4 Bronze Bushing 2 8-Hole Beam 2 Thumbscrew 4 Setscrew 4 Quick Rivet 4 Quick Rivet Peg Wheel & Tire Assembly Thumbscrew 8-Hole Beam Continuous Rotation Servo Setscrew Bronze Bushing 46
Step 5A Step 5B 47
Step 5C Step 5D 48
Step 6 For this step you will need: Quantity Part 2 13-Hole Beam 4 Thumbscrew 2 90-Degree Cross Block Connector 4 Quick Rivet 4 Quick Rivet Peg 90-Degree Cross Block Connector 13-Hole Beam Thumbscrew 49
Step 6A Step 6B 50
Step 6C 51
Step 7 For this step you will need: 90-Degree Beam Connector Quantity Part 2 4-Hole Beam 1 Thumbscrew 1 Wing Nut 2 Quick Rivet 2 Quick Rivet Peg 1 90-Degree Beam Connector 2 Bronze Bushing 1 40 mm Axle 2 Wheel & Tire Assembly 2 Setscrew Thumbscrew Wing Nut 4-Hole Beam 52
Step 7A Step 7B Step 7C 53
Step 7D Step 7E 54
Step 8 For this step you will need: Quantity Part 1 Beam Attachment Hub 2 Thumbscrew 2 Bronze Bushing 1 40 mm Axle 1 Shaft Set Collar 1 Setscrew 40 mm Axle Bronze Bushing Beam Attachment Hub Thumbscrew 55
Step 8A Step 8B Step 8C 56
Step 8D 57
Step 9 For this step you will need: Quantity Part 2 Battery Mounting Bracket 6 Thumbscrew 2 Wing Nut 1 15-Hole Beam 2 90-Degree Cross Block Connector Thumbscrew Battery Mounting Bracket Wing Nut 58
Step 9A Step 9B Step 9C Step 9D Step 9E Step 9F 59
Making It Move Install the battery using the Bungee Band provided. Connect the left continuous run servo motor to Channel 1 of the receiver. Connect the right continuous run servo motor to Channel 3. Connect the battery to the BAT connection. Secure the receiver and wires so they do not become entangled in moving parts. Turn on the remote controller and test the operation of the Buggee Bot. If the motion of each servo does not correspond with the joystick movement, use a screwdriver to change the position of the DIP switches. If necessary, use the trimmer controls to stop all movement of the servos when the joysticks are in the neutral position. Buggee Bot Activities After completing the construction of the Buggee Bot, it is time to have some fun. Practice driving the Buggee Bot to familiarize yourself with the way it works. Activity 1 Set the controller to operate in tank mode. Place four cups upside down to resemble cones. Place the cones in a square pattern with 18-inch sides. Place your Buggee Bot in the center of the cones. Drive the Buggee Bot around the cones in a figure-eight pattern. Use a stopwatch to time how long it takes to drive the Buggee Bot through the pattern and back to the center of the cones. Try to complete the figure eight faster than your partner without hitting the cones. Activity 2 Set the controller to operate in arcade mode. Place four cups upside down to resemble cones. Place the cones in a square pattern with 18-inch sides. Place your Buggee Bot in the center of the cones. Drive the Buggee Bot around the cones in a figure-eight pattern. Use a stopwatch to time how long it takes to drive the Buggee Bot through the pattern and back to the center of the cones. Try to complete the figure eight faster than your partner without hitting the cones. Compare the time required to complete the figure eight in each driving mode. Which operating mode allowed you to complete the task faster? Activity 3 After completing the build of the Buggee Bot, you can add the optional Gripper Assembly. Refer to the instructions on the following pages for assembling and attaching the gripper. Invert two small cups to serve as ball supports. Place two small cups about four feet from the two inverted cups. Use the remote control to maneuver the Buggee Bot into position and pick up a ball using the gripper. Drive the robot to one of the cups and place the ball into the cup. Harvest the remaining ball from the support and place it in the other cup. Make it a competition by timing how long it takes to move both balls from the support and place them in the cups. Activity 4 With permission from your instructor, make modifications to improve the performance of the Buggee Bot. Some improvement ideas include reducing the turning radius, improving the stability, or improving the steering response. 60
Buggee Bot Moving Gripper Assembly Step 1 Step 2 Step 3 Step 4 Step 5 Step 6 Step 7 Step 8 Step 9 Step 10 61
Step 11 Step 12 Step 13 Step 14 Step 15 Step 16 Step 17 62
Pickee Bot Pickee Bot is a nonmobile pick-and-place robot, similar to an industrial robot that might be used in a manufacturing plant. Three servos are needed: two standard servos to operate and elevate the gripper and one continuous rotation servo to pivot the gripper. 63
Pickee Bot Assembly Step 1 For this step you will need: Quantity Part 1 8-Hole Beam 1 4-Hole Beam 1 90-Degree Beam Connector 1 90-Degree Cross Block Connector 1 Thumbscrew 4 Quick Rivet Connector 4 Quick Rivet Peg Quick Rivet Peg 8-Hole Beam Quick Rivet Quick Rivet Quick Rivet Peg 90-Degree Beam Connector Thumbscrew 4-Hole Beam 90-Degree Cross Block Connector 64
Step 1A Step 1B Step 1C Step 1D 65
Step 2 For this step you will need: Quantity Part 1 90-Degree Beam Connector 1 4-Hole Beam 1 Thumbscrew 1 90-Degree Cross Block Connector 4 Quick Rivet Connector 4 Quick Rivet Peg 90-Degree Beam Connector Quick Rivet 4-Hole Beam 90-Degree Cross Block Connector Thumbscrew 66
Step 2A Step 2B Step 2C 67
Step 2D Step 2E 68
Step 3 For this step you will need: Quantity Part 1 Thumbscrew 1 13-Hole Beam Thumbscrew 13-Hole Beam Step 3A 69
Step 4 For this step you will need: Quantity Part 1 40-Tooth Gear 2 Setscrew 2 Bronze Bushing 1 Thumbscrew 1 40 mm Axle 1 Continuous Rotation Servo Assembly 40-Tooth Gear Setscrew Thumbscrew Bronze Bushing 40 mm Axle Continuous Rotation Servo Assembly 70
Step 4A Step 4B Step 4C 71
Step 5 For this step you will need: Quantity Part 1 80-Tooth Gear 2 Bronze Bushing 1 Thumbscrew 2 Setscrew 1 40 mm Axle 1 Shaft Set Collar 80-Tooth Gear 40 mm Axle Bronze Bushing Shaft Set Collar Setscrew 72
Step 5A Step 5B 73
Step 6 For this step you will need: Quantity Part 2 Thumbscrew 1 4-Hole Beam Thumbscrew 4-Hole Beam 74
Step 6A Step 6B 75
Step 7 For this step you will need: Quantity Part 1 5-Hole Beam 2 60-Degree Bracket 2 Thumbscrew 2 Wing Nut 60-Degree Bracket 5-Hole Beam Wing Nut Thumbscrew 76
Step 7A Step 7B 77
Step 8 For this step you will need: Quantity Part 1 Standard Servo Assembly 1 40 mm Axle 2 Bronze Bushing 1 Thumbscrew 1 Setscrew Bronze Bushing 40 mm Axle Standard Servo Assembly Setscrew Thumbscrew 78
Step 8A Step 8B 79
Step 9 For this step you will need: Quantity Part 1 8-Hole Beam 2 Thumbscrew 1 Setscrew 1 Beam Attachment Hub Beam Attachment Hub Setscrew 8-Hole Beam Thumbscrew 80
Step 9A Step 9B 81
Step 10 For this step you will need: Quantity Part 1 Thumbscrew 1 Wing Nut 1 Gripper Assembly Thumbscrew Gripper Assembly Wing Nut 82
Step 10A Step 10B 83
Step 11 For this step you will need: Quantity Part 1 5-Hole Beam 3 Thumbscrew 2 Wing Nut 2 Battery Mounting Bracket 5-Hole Beam Thumbscrew 84
Step 11A Step 11B 85
Step 11C Wing Nut Thumbscrew Battery Mounting Bracket Step 11D 86
Step 11E Step 11F 87
Making It Move Install the battery using the Bungee Band provided. Connect the continuous run servo motor to Channel 3 of the receiver. Connect the standard servo motors to Channel 1 and Channel 2. Connect the battery to the BAT connection. Secure the receiver and wires so they do not become entangled in moving parts. Turn on the remote controller and test the operation of the Pickee Bot. If the motion does not correspond with the joystick movement, use a screwdriver to change the position of the DIP switches. If necessary, use the trimmer controls to stop all movement of the servos when the joystick is in the neutral position. Pickee Bot Activities After completing the construction of the Pickee Bot, it is time to have some fun. Practice moving the Pickee Bot and operating the gripper to familiarize yourself with the way it operates. Use caution not to entangle the wires when rotating the gripper boom. Reverse your motion to avoid damaging the wires. Activity 1 Assemble the Ball Rack. Refer to the Accessories Section for instructions on how to assemble the Ball Rack. Place the Ball Rack in a position so that Pickee s gripper is able to reach both ends and the middle holes. Place one cup to the right side of Pickee Bot, one to the left side of Pickee Bot, and one behind Pickee Bot so that Pickee s gripper is able to reach each of the cups. Place a ball on each end of the Ball Rack and one in the middle. Maneuver Pickee s gripper to pick up a ball and place it in one of the cups. Make it a competition to see which partner is able to complete the task in the shortest amount of time. Activity 2 Place an inverted cup in a position in front of the Pickee Bot so that Pickee s gripper is able to reach a ball placed on the cup. Place one cup to the right side of Pickee Bot and one to the left side of Pickee Bot so that Pickee s gripper is able to reach each of the cups. Place a ball on the inverted cup. Maneuver Pickee s gripper to pick up the ball and place it in one of the cups. Place another ball on the support and maneuver Pickee to place this ball in the other cup. Make it a competition to see which partner is able to complete the task in the shortest amount of time. Activity 3 With permission from your instructor, make modifications to improve the performance of the Pickee Bot. Some improvement ideas include eliminating the chance of wire entanglement, increasing the gripper reach distance, improving the stability, or increasing the lifting power. 88
Accessories Section Ball Rack Assembly Create this Ball Rack for use with any of the three Bots built using this guide. Step 1 For this step you will need: 2X Quantity Part 2 5-Hole Beam 4 90-Degree Cross Block Connector 2 Thumbscrew Thumbscrew 8-Hole Beam 90-Degree Cross Block Connector 89
Step 1A Step 1B 90
Step 2 For this step you will need: Quantity Part 2 Thumbscrew 2 90-Degree Cross Block Connector 90-Degree Cross Block Connector Thumbscrew 91
Step 2A Step 2B 92
Step 3 For this step you will need: Quantity Part 1 15-Hole Beam 2 Thumbscrew Thumbscrew 15-Hole Beam 93
Step 3A Step 3B 94
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