How to build the one motor walker
http://www.instructables.com/id/How-to-build-the-one-motor-walker/ Home Sign Up! Explore Community Submit How to build the one motor walker! by robomaniac on May 5, 2008 Table of Contents intro: How to build the one motor walker! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 Video . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 step 1: How to build the one motor walker! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 step 2: How to build the one motor walker! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 step 3: How to build the one motor walker! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 step 4: How to build the one motor walker! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 step 5: How to build the one motor walker! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 step 6: the front gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 step 7: the gear assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 step 8: The legs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 step 9: the battery holder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 step 10: The circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 step 11: How to build the one motor walker! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 step 12: How to build the one motor walker! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Related Instructables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Advertisements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Customized Instructable T-shirts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 http://www.instructables.com/id/How-to-build-the-one-motor-walker/ intro: How to build the one motor walker! Welcome! Here is Instructables on how to build a walker with only one motor! This design is base on the principal of B.E.A.M robotics! Building simple and elegant robot inspired by insect. This robot was build back in 2000 and want to show you how to build it. Video Beware this is a complex project! This project incorporate two more instructables How to modify a servo motors. http://www.instructables.com/id/How-to-modify-a-servo-motor-for-continuous-rotatio/ How to make the bicore circuit. http://www.instructables.com/id/How-to-freeform-the-bicore-BEAM-robotics-/ ( I still did not learn with those truncated title :P ) Here are the 3 most important steps in this Instructables step 1 - Read carefully! step 2 - Read again before asking questions, check the comments! step 3 - Did you read? if not goto step 1 PS- My instructables don't even contain a lot of text! Just pictures! :) To be able to make this robot you need skills. You will need to solder electronics components. Gareth Branwyn once contacted me to make a article in his book about my one motor walker. The chapter is online. This is worth reading in parallel while making the robot. http://solarbotics.com/products/abg/ Solarbotics made your life easy by making custom bundle for you! http://solarbotics.com/products/abgchw/ I don't think there is a big gear is in there. Be careful. If you never build a robot and want to tackle the one motor walker, I suggest you try the beetle robot. http://www.instructables.com/id/How-to-Build-a-Robot-The-BeetleBot-v2-Revisite/ Good luck! http://www.instructables.com/id/How-to-build-the-one-motor-walker/ Image Notes 1. When I first saw this robot, I got inspired to build one exactly like that. I never got the time to do it . Image Notes 1. I ended building this one :P Image Notes 1. Gareth Branwyn wrote this book and one chapter is dedicated to the one motor walker! This image comes from Solarbotics.com step 1: How to build the one motor walker! Here is what you need to build this walker. Items for the robot: 1 x Servo motor with servo horn 1 x Terminal block 1 x plastic gear ~2 inch 1 x plastic servo horn 1 x 2 feet of 8 to 10 gauge wire ( can use coat hanger wire or 10-gauge copper wire ) 1 x short piece plastic tubing ( can use the isolation from the 8-10 gauge wire ) 2 x AA or AAA battery holder You could use the GM8 from solarbotics http://www.solarbotics.com/products/gm8/ don't forget this http://www.solarbotics.com/products/gmw/ Items for the BICORE" 2 x .22 µF monolithic capacitors 1 x 100K to 10M� resistor (we recommend 3.2M�) 1 x 74HCT240 integrated circuit (IC) 74AC240 will be better 1 x 20-pin DIP IC socket 1 x on/off toggle switch (smallest you can find) the recommended tools for this project: http://www.instructables.com/id/How-to-build-the-one-motor-walker/ 1 x safety glasses!! 1 x soldering iron 1 x glue gun 1 x wire strippers 1 x side cutter 1 x scissors, knife, x-acto, etc I recommend you to take the time to read this entire instructable before starting. In every page I have added a lot of pictures, so don't forget to look. Image Notes 1. Servo horn with screw. 2. The freeform BICORE circuit. 3. The big plastic gear. 4. Servo motor. 5. Rigide plastic tube. Be sure that a coat hanger can fit in the inside the tube. Not tight, it need to be spin freely. 6. Terminals. Image Notes 1. Pictures from www.allelectronics.com Image Notes 1. Image from www.smarthome.com http://www.instructables.com/id/How-to-build-the-one-motor-walker/ step 2: How to build the one motor walker! This is main mechanical part you will need to make the robot. You can find this sort of gear in VCR. Search garage sale or ask familly and friends. The DVD is already obsolete thank to the BluRay, imagine how obsolete is the VCR! :P The gear in the picture is from a VCR. If you are really lazy, you can buy it from there http://www.allelectronics.com/make-a-store/item/GR-5/SET-OF-5-GEARS-AND-BUSHINGS/-/1.html Image Notes 1. Check the second picture step 3: How to build the one motor walker! Glue the servo horn to the plastic gear. Be sure both hole are aligned. You can use traditional servo horn for this project. It will work. Image Notes 1. Look at both hole. They are centered http://www.instructables.com/id/How-to-build-the-one-motor-walker/ step 4: How to build the one motor walker! Please visit this instructables to know how to modify a servo motor http://www.instructables.com/id/How-to-modify-a-servo-motor-for-continuous-rotatio/ step 5: How to build the one motor walker! Here you are building the pivot rod for the front gear. I took a coathanger and bend it like the second picture. You simply glue it in place. You can use cooper wire to do the same thing. Look at step 8 to know which wire to take. Image Notes 1. Centered 2. With this. http://www.instructables.com/id/How-to-build-the-one-motor-walker/ Image Notes 1. Don't be scared to put some glue. step 6: the front gear Find a rigid plastic tubing that fit over the coat hanger. This tube is your pivot. You can use the plastic that cover a electric wire. Maybe some 14/2 or 10/2 wire will do. Read step 8 to understand what does 14/2 mean. Image Notes 1. Simply glue it in place. This is your pivot. step 7: the gear assembly This is a easy step. You insert the front gear into the metal rod. Bend the rod so both gear touch. This is really important. To secure the gear, look at the step 9. I use terminal block to hold it place. http://www.instructables.com/id/How-to-build-the-one-motor-walker/ Image Notes 1. They need to touch! Image Notes 1. They touch barelly, try to bent it more. 2. Use terminal block to hold on the gear. 3. Use terminal block to hold on the gear. step 8: The legs Find some 14 gauge cooper wire. It is normally call 14/2 or some will say 2/14 8 to 10 gauge will work too. 14 is the gauge ( the size, the diameter of the wire ) 22 gauge is breadboard wire and gauge 0 is the size of your finger! 200 Amp 2 is the number of wire not counting the ground. You have a black and white wire. The black wire is the "hot" that carry the 120V 14/3 is the same with one more wire. The wire is red. You normally use this wire when you have a 3 way. Two switchs that control one light for example. You can use a coat hanger to make the legs. I recommend adding to some heatshrink to the end of the led to have better grip on the floor. You can see on the video, the robot slips a little bit while walking on the table. There is no heatshrink on my robot, only rigid plastic tube. Image Notes 1. Use terminal block to hold on the gear. 2. Use terminal block to hold on the gear. http://www.instructables.com/id/How-to-build-the-one-motor-walker/ step 9: the battery holder I use AAA batter holder but AA will do the same. Glue them to the servo motor. We will hook are battery holder in serie to get higher voltage but with the same current. Four battery of 1,5Volts will give 6V of power. If you use rechargeable battery it will be 4,8Volts To hold your gear in place, I have use some terminal block, I have remove the plastic and cut the terminal in two using a saw. I simply put them on the shaft to hold the gear. You can even use small tie-wrap instead of terminal block. Image Notes 1. Use terminal block to hold on the gear. 2. Use terminal block to hold on the gear. step 10: The circuit This is a the hard part if you never made electronics. Please visit this instructables to make this circuit http://www.instructables.com/id/How-to-freeform-the-bicore-BEAM-robotics-/ The schematic is really ugly and was made ~7 years ago with paint! The 74AC240 circuit come from www.beam-online.com R1 = 1Meg Ohm the capacitor are 0.22uF http://www.instructables.com/id/How-to-build-the-one-motor-walker/ step 11: How to build the one motor walker! Glue the circuit on top of the servo. Hook up the motor to the circuit like the circuit. step 12: How to build the one motor walker! You robot is finish. [...]... My servo motor can spin 360 I had to put this nail to stop my motor from making 360 degree If I let the motor oscillate, it will one day do 360 degree Image Notes 1 I ended building this one :P Related Instructables How to freeform the bicore ( BEAM robotics ) by robomaniac How to modify a servo motor for continuous rotation ( One motor walker robot ) by robomaniac How to Build a Robot - The BeetleBot... would cause the bot to turn in that direction If you could wire a spdt to reverse the polarity when triggered it would still go all the way across the gear unless there was something to control the timing Like lets assume it takes 1 second for the motor to turn the gear from one side to the other If the spdt is triggered then the motor will go + for 5ms, then - for 5ms then + for 5ms, then - for 5ms... walking foward even by swapping the motor polarity The only thing I could try is to make the robot turn I will try that on the next version Thanks and good luck! Jerome http://www.instructables.com/id /How- to- build- the- one- motor- walker/ viacin says: Sep 19, 2008 3:03 PM REPLY what if and I'm grasping into thin air here and thinking as I type you made the motor only go half the gear before reversing polarity?... to Build a Robot - The BeetleBot by robomaniac How to Build a Robot - The BeetleBot v2 ( Revisited ) by robomaniac Build a MiniWalking Bot by Mrdon219 http://www.instructables.com/id /How- to- build- the- one- motor- walker/ A Servo-based Robots (guide) 4-legged Walker by randofo by The Real Elliot "Hacking" a Floppy Disk Eject Motor by MaltiK Advertisements Customized Instructable T-shirts Comments 47 comments... drive the motor the 3meg resistor change the oscillation big resistor = long oscillation small resistor = short oscillation Good luck ps- you can put 2 3,2Meg in parallel to have a 1Meg resistor for testing Jerome uncreative username says: is that a Mondo spider i see? yes,its an eight legged beast, that can reach a speed of 30 miles an hour http://www.instructables.com/id /How- to- build- the- one- motor- walker/ ... servo motor ? andy says: Jul 15, 2008 3:08 PM REPLY Any good gear motor should work really, depending on ratio speed and power consumption Its always good to find something with lots of holes, brackets etc but even without mounting holes/brackets glue usually does the trick on small walkers with low load like this Motorised toys usually have the gear box, motor and axles mounted to the shell, so they're... angles of the one motor walker stepping over a quarter? I would like to see what is on the other side of it viacin says: Sep 19, 2008 3:20 PM REPLY I found some gears at the electronic goldmine that are perfect for this! ( http://www.goldmine-elec-products.com/default.asp ) These guys have the cheapest prices than anyone else! I just ordered about $70 worth and I think I'm stocked on parts for the next... a motor I'll post as soon as I convince my dad to let me borrow his camera Mr BeanyMvBeanBean says: Oct 5, 2008 12:24 PM REPLY Here it is: if you put a gear between the two half gears it will switch direction when one half gear is touching it and when the other one starts touching it will switch off Only problem is I didn't have the right size gear BEAST14 says: Sep 19, 2008 7:37 PM REPLY hey, is there... http://www.instructables.com/id /How- to- build- the- one- motor- walker/ turtleshane says: Jul 18, 2008 6:00 PM REPLY yeah i'll agree with you capn tac if it is not self operating it would be an rc vehicle and then it would still be a type of robot thing i would say, but even so as you said a robot is "'A machine designed to replace human beings in performing a variety of tasks, either on command or by being... else the robot will not go far! Thanks Jerome Tech107 says: Dec 2, 2008 10:28 PM REPLY I build it but for the bicore circuit I used a 3.2Meg ohms resistor and the gm8 motor has a hard time turning or it goes to far when it oscillates I will try the 1 meg ohms resistor Can anybody help me? Thanks robomaniac says: Dec 3, 2008 9:31 AM REPLY Be sure you have a 74AC240 74HCT240 will have a harder time to . http://www.instructables.com/id /How-to-build-the-one-motor-walker/ Home Sign Up! Explore Community Submit How to build the one motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 http://www.instructables.com/id /How-to-build-the-one-motor-walker/ intro: How to build the one motor walker! Welcome! Here is Instructables. robot. http://www.instructables.com/id/How-to-Build-a-Robot-The-BeetleBot-v2-Revisite/ Good luck! http://www.instructables.com/id /How-to-build-the-one-motor-walker/ Image Notes 1. When I first saw this robot, I got inspired to