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NXT Ballbot Building Instructions PDF

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617 views28 pages

NXT Ballbot Building Instructions PDF

Uploaded by

zohaibshabir
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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NXT Ballbot Building Instructions

Author (First Edition)


Yorihisa Yamamoto
[email protected]
Application Engineer
Advanced Support Group 1 Engineering Department
Applied Systems First Division
CYBERNET SYSTEMS CO., LTD.

Revision History
Revision

Date

1.0

Apr 14, 2009

Description
First edition

Author / Editor
Yorihisa Yamamoto
[email protected]

The contents and URL described in this document can be changed with no previous notice.

Introduction
NXT Ballbot is a LEGO Mindstorms NXT version of Ballbot that is developed by Ralph Hollis at Carnegie
Mellon University. The Ballbot is designed to balance itself on its single spherical wheel while traveling about.
Please refer the following URL to know more detailed information about Ballbot.
http://en.wikipedia.org/wiki/Ballbot

This document describes the required products for NXT Ballbot and how to build it.

-i-

Table of Contents
Introduction ............................................................................................................................................................... i
1

What is NXT Ballbot? ..................................................................................................................................... 1

Required Products .......................................................................................................................................... 2

Building Procedure ......................................................................................................................................... 4

1 What is NXT Ballbot?


NXT Ballbot is a self-balancing robot on its single spherical wheel (ball), built with LEGO Mindstorms NXT.
The figure below is its externals.

NXT Ballbot has the following features.


z

Balance control by using two DC motors and two gyro sensors.

Autonomous drive or remote control by using a PC game pad with analog sticks.

Obstacle avoidance by using an ultrasonic sensor.

You can watch the NXT Ballbot movie at the URL http://www.youtube.com/watch?v=f8jxGsg3p0Y

-1-

2 Required Products
This chapter describes the required products to build NXT Ballbot. Contact LEGO Mindstorms Education
distributor in your country for consultation and estimation about the products. The following information is
described at the North America LEGO Education site http://www.legoeducation.com/store/.
LEGO Products
z

LEGO Mindstorms Education NXT Base Set


Product ID : W979797
This is a LEGO Mindstorms NXT base set.

Education Resource Set


Product ID : W979648
This is a LEGO Mindstorms NXT expansion set.

AC Adaptor
Product ID : W979833
This is required for NXT Rechargeable Battery.

NXT Bluetooth Dongle


Product ID : W979847
This is a USB dongle for Bluetooth communication.
It is required for NXT GamePad utility.

-2-

HiTechnic Product
z

Hitechnic Gyro Sensor for NXT


Product ID : W991380
This is a gyroscopic sensor that returns rotation speed.
NXT Ballbot requires two gyro sensors.

Other Product
z

PC Game Pad with Analog Sticks


This is required for remote control.
You can use a game pad which confirms Windows HID spec.

-3-

3 Building Procedure
Making Base Assembly

-4-

-5-

Front

Back

-6-

Making Motor Bearing Assembly

-7-

Attaching Motor Bearing Assembly

-8-

Making Motor Assemblies

-9-

- 10 -

Make another motor assembly in the same way.


Note to attach a peg to the different position.

- 11 -

Attaching Motor Assemblies

- 12 -

Making Gyro Assembly 1

- 13 -

- 14 -

Making Gyro Assembly 2

- 15 -

Attaching Gyro Assemblies

- 16 -

Attaching Stretchers

Front

Left

Back

Right

- 17 -

Making Top Panel Assembly

- 18 -

Front

Back

Attaching Top Panel Assembly

Top

Front

- 19 -

Making NXT Brick Assembly

- 20 -

- 21 -

Attaching NXT Brick Assembly

Connecting Cables
Port 1 : Left Gyro Sensor
Port 2 : Back Gyro Sensor
Port 3 : Ultrasonic Sensor

Port B : Front DC Motor


Port C : Left DC Motor

- 22 -

Overview

- 23 -

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