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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