Max

built by Kenneth Maxon

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Target Environment Locomotion Method
Indoors Treads
Sensors / Input Devices Actuators / Output Devices
Parallax vision system
4 sonar modules
4 IR distance modules
12 optical encoders
12 stepper motors
4 PM DC motors
Control Method Power Source
Autonomous Battery
CPU Type Operating System
4 Motorola 68332, 1 Coldfire, PICs None
Programming Lanuage Weight
C N/A
Time to build Cost to build
about 4 years less than $6000
URL for more information
http://www.users.uswest.net/~kmaxon/page/index.html
Comments
Max is tracked (4 independent wheel trucks w/tracks). It uses Gel-Cell batteries (4x). Additionally parallax based vision systems that I designed from scratch are the primary sensors in this first version. There are also four sonar modules and four infra red distance modules, there are also 12x qty of 1024 count optical encoders. Max is autonomous with several processors sharing a custom bidirection high speed interconnect. The processor systems revolve around four Motorola 68332 processors running 'C' under GCC and one Motorola ColdFire processor, in addition to several distributed PIC chips. Actuators include 12 stepper motors & 4 PWM controlled permanent magnet DC motors. Currently there is no target operating system however the coldfire processor system is capable of running Linux at a later date.

Estimated cost to build is low as I've fabricated everything on my own. Currently I'd guess it's <6K when one takes into account all of the tools built up to work with the processors,sensors etc & machining equipment as well.

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