Swivil

built by Shaun Parsons


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Target Environment	Locomotion Method
Indoors	Treads
Sensors / Input Devices	Actuators / Output Devices
Optical feedback from motors 4 40khz IR sensors 2 40khz sonar range finders 5-element line-follow sensor 2 audio microphones 2 light level sensors ambiant temperature sensor X Y tilt sensor 4 bump sensors battery volts, temp, & current	PWM audio output 240x128 LCD panel Drive motors
Control Method	Power Source
Autonomous	Battery
CPU Type	Operating System
Intel 8051	None
Programming Lanuage	Weight
N/A	1.8 kg
Time to build	Cost to build
550 hours	R2000-00 SA Rand
URL for more information
http://www.webtronics.co.za/shaun_p/
Comments
Height = 95mm Width = 243mm Length = 225mm Ground clearance= 25mm Power: 12v 1.1Ah NiCd From this we generate 22V @ 200mA, 6V @ 300mA, 5V @ 200mA, -6V @ 30mA, and -15v @ 10mA Running time= +- 4 Hours Top speed= 0.2m/S Torque= ?? The robot drives up a wall and falls on its back if I allow it. Frame: Aluminum tube and angle chassis with spring loaded swivling left and right tracks for mobility Processor is an Intel 87C51GB 64PLCC running @ 18.432Mhz RAM= 160KB, ROM= 64KB and a Xilinx XC9572 CPLD device. The design is a test bed for my self to see what I can acomplish. I will then apply what I learn from this design to a more functional design. Still lots of programing to be done. Email: sparsons@iafrica.com

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