MARS (Mobile Autonomous Robotic System) is an experimental robotic platform being designed with expansion, modularity, and flexibility in mind. The initial Phase 1 testing is being done with a small tracked vehicle. Using this test vehicle I am testing various sensors and programming code.
Functions:
The Phase 1 test vehicle can be controlled via IR remote, preprogrammed with a specific path, or roam unattended when
outfitted with proximity detectors. The test vehicle can also sense stairs, light, and heat.
Specifications:
- Powered by 2 9.6V 1000mAh battery packs.
- Primary controller is a Handyboard with HB Expansion board.
- Two hacked 100 oz-in RC servos providing torque to tracks.
- One Basic Stamp II controlling 8 proximity modules.
- Four IR prox modules for contact detection (2 front, 2 rear)
- Four IR prox modules for stairs detection (1 at each corner).
- Three CdS cells to detect light (left, right, and up)
- Two thermistor temp sensors (1 external, 1 internal)
- One cooling fan (controlled by internal thermistor)
Parts used:
The Electronics and Motors:
1 x MIT Handyboard with Charger Board, LCD, and Expansion Board
1 x Basic Stamp II with Board of Education
4 x GP2D05 IR proximity modules
4 x IR LED/Detector pairs for stairs detectors
3 x Radio Shack CdS photo cells
2 x Radio Shack Thermistors
1 x Mini 12v cooling fan
2 x Dual connector phone jacks (for serial interfaces)
4 x Radio Shack terminal strips
The Chassis:
1 x Radio Shack Bedlam (hacked for tracked chassis)
3 x Various Radio Shack project boxes
1 x Old external modem top cover
2 x Small pieces of cable shield tubing
various strips of brass stock (servo and battery mounts)
many cable ties
many machine screws and nuts
Problems Encountered:
- The motors that came with the Bedlam RC car were too powerful
for my needs and I couldn't get them under control with an
LMD18200 motor controller I put together. I replaced the motors with servos.
- The servos didn't give me the
