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Hello again. Rowland O'Flaherty here, robotics PhD
candidate at Georgia Tech, and in this week's video we're going to build
the Quick Bot. So, let's get started.
Here I have all the parts for the Quick Bot.
And today We're just going to build the hardware parts.
Next week, we're going to do the wiring. So you're going to need the parts outlined
in the slide right now to do this. So the first step
is to solder on the encoder header. So this is one of the only times that we,
you use soldering. And what I like to do for that is take
your encoder header This six-pin header here, and just
place it into your, your breadboard. Put your own coater on there, and it goes
on with the IR sensors up, and then just go through
and solder each of these six pins.
Makes it nice and easy, and it comes out nice and flat.
So once you've soldered that on there. You should have something that looks like
this. So
the next step, is attaching the encoder. To the, to the bottom plate of the
chassis. So you're going to take the bottom plate.
Take your encoder you just soldered. And you're going to take.
two one half 440 screws and four 440 nuts and the
encoder as you can see on this slide, will fit right here.
One screw goes through that hole, and one comes through this slot.
So the first nut that you put in is going to be a standoff nut, so go
ahead and attach that.That's going to keep the encoder
off the board at a, at the right distance. Go ahead and attach that next nut.
So it should look like that, then you just put the encoder on there.
Attach those two next nuts.
So nice and simple. That goes on.
So once you have that, Done.
So I'll leave that to the side. The next thing you have to do is attach
the right motor. So let's grab one of these motors.
And you'll notice on motor that has a *** on one side.
And so those knobs are going to go on the outside of the chaise.
So what you need is the motor Need two motor mounts.
You need two M3 screw 30 screws, and two M3 nuts.
These are the ones that come with the magician chassis, so it's some longer
ones. And what you'll do is you'll slide on of
these Motor mount slots through the the chassis
here. And, actually it's best to put it through
like this. Put it through the outside.
And what you want to do is have the, the red wire on top.
So, actually, I want to use this one. Have the red wire on top, *** to the
outside. We'll just slide that through there.
And this go there, like so.
This one goes through here. And
then you'll just attach the nuts to the outside of this.
So, like that.
Take one of these nuts. Do that for both screws.
So you'll attach the right motor. Then you'll attach the left motor in the
same fashion. So in the next step you're going to attach
this omni wheel. And you're going to
use two of these standoffs, these brass. All 25 spacers.
And, you're going to use four of these M36
screws. So, I found it's easiest to attach the
spacers To the on we will first, so let's just take that, put the spacer on there.
So just do that, that for both sides. We have that.
So, Show you on this one. And then, on your board here, on the same
side that the motors went on this, the lower side, you can see that there are
two holes that this line up with. So that, just put
this through there, each one of these screws, and attach it there.
And what you end up with The only wheel that looks like this.
So once you have that one wheel attached. The next step is to attach the wheels and
the encoder disk. So I'm just going to pull these off and
show you. So the wheels just slide on.
Same with the encoder disk they just slide on.
kind of hard to get them in there sometimes.
So once you have the wheels on, and the encoder
disc on, the next step is to attach the breadboards.
So flip it over so it's, it's sitting upright.
And you're going to take the large breadboard, and the small breadboard
The large one will fit, right between the screws from the omni wheel, and the
motor mounts, and the small one will fit right
up against the neck of the encoder so this
one already has the standoffs, we haven't done
that yet. So just go ahead in these breadboards.
I have two sided tape on them. Just peel off that tape [SOUND]
and just stick them on. It
should fit just nicely, wheels can still spin.
So you can do that for both The large breadboard, and the
small breadboard. So slide
that small one right up against the nut from the [INAUDIBLE] disk.
So the next step is to attach these, chassis
standoffs. This one already has one attached.
So I'll show you here. You're going to need, look, this assembly.
Four of the m36 screws. And four of the l25 spacers.
And what you're going to do for the front ones, you put the
screw through. Screw on the standoff.
And slide it right up against that bread board there.
So it's just like that You'll do that for both of those front ones.
Now on the back ones, there are two holes on the outside.
Just do the same thing and attach it to those two holes.
Alright. Now we're going to work on the top of the
of the, the top plate. So the first thing you're going to do is
attach the Beaglebone Black standoff mounts, and you're going to need
four of these shorter L10 spacers. And four M36 screws, these little ones
that come with the magician chassis. And I found, it's easy to do this by
screwing on these spacers to the [UNKNOWN] first so
you know exactly where they're supposed to be located.
SO go ahead and screw the four of them on. Missing a screw here.
And then what you need to do is, find the
right holes that these attach to. So.
If you look here, there are four holes.
So there's a hole. There's this hole right here.
That'll be one corner. And then the end of this slot here would
be another corner. This hole right here would be one corner.
And then, right there in that slot will be the fourth corner.
So if you look at this this way, you see these will match up.
So, what we can do is take these screws, put 'em through and screw 'em on.
You can take the screwdriver that you got with the
Magician [INAUDIBLE] Use that. Screw this on.
So, once you get one, then it's easy to line up the rest of' em.
I'll just do two here. [SOUND]
So now I have the mounts attached.
And you can either actually just leave the [INAUDIBLE] on there.
But I find it's easier to take it off, so than now
you can just unscrew these top ones and take off that, that board.
So the next step is to attach the battery holders.
So were going to grab your 2 battery holders, so one of
the battery holders, has two holes, and this came with the magician bot,
the other battery holder we bought seperately, this has
4 holes, so these holes don't line up the same,
so you actually have to use different slots and
holes on the top right here to make it fit.
And so what you'll need are your two battery holders, and you'll
need two of the M3 10 screws. And
you'll actually need two of the 4-40 one quarter inch screws.
Two of the 440 nuts, and you'll need two of the M3 nuts.
Actually, we're going to use the M3-10 ones.
This screw, here, has the flat head with the chat,
so Another one in here somewhere. Here we go.
So the screws that came with The Magician Bot, that's the, those are the ones you're
going to use with the battery holder that came
with Magician Bot, the one with two holes. Go ahead and put, put those screws through
those holes. And then
You will see on your top plat so if you flip it over on the bottom side
this [UNKNOWN] will fit through. I will get this right here.
This slot. Here.
It's about three slots up from this row of L-shaped slots,
and this slot here. So you kind of have to finagle
it Push it down to make it go in. There we go.
Once it's in there then you will attach you nets through the underside of that.
Hold that in place. Well, the other battery holder the one
that you bought separately even use your one
quarter range for 40 screws and put it into the
two Outside holes for this one's out, screws are small here.
Now, looking at this guy, these are going to go through
But that was the second slot, I was mistaken,
and this is going to go through the third slot.
Three slots up. And then it's going to go through this
slot right here. So I'll just go ahead, and all these
holes, that these, everything fits through,
they're all on the slides. Well documented so you can go through and
see exactly which holes and slots everything fits.
So that one goes through there.
Ohp, dropped one of the screws. that one goes through there.
So now we have our top plate [SOUND] [UNKNOWN] black
and The battery holders. So the next step
is assemble the IR sensors. There are five IR sensors and each one
to start with, you're going to take two of the one-quarter
inch 440 screws and two Of the 440 angle brackets.
Now you'll notice on the angle bracket that one of the holes is threaded
and one of the holes is not threaded. What you want to do is take the 440 screw,
and this ones already assembled here Put it through the hole, and, and screw it
in to the angle bracket into the threaded hole.
Then just leave it loose. And then repeat that five times.
One for each of the IR sensors. Next, what we're going to to do is we're
going to attach two of the IR sensors to the lower portion of
the chassis. So Here's the lower portion of the
chassis. And to do this, now you're going to take
the 1/2 inch 440 screws and two of the 440 nuts.
Per IR sensor since we are going to do two you have four all together.
So let's start with this first one. So
on the front of the chassis here you see there are these t
slots. What you want to do is put the
screw. One screw in each of the T slots such that
the ones on the corner are all the way down at the end of
the T and the ones in the middle are all the way to,
so in this case to the right, or in the middle of the T.
And then, you're going to take your [UNKNOWN] sensor
And fit it for each one of those screws. What it'll look like once you've attached
it, it'll look like this So the two IR sensors
are attached to the bottom plate. And you can see from the slides the exact
holes that you need to put the screws into.
All right, now let's attach the three upper IR sensors.
So we're going to take our upper plate assembly and here Take one of the IR
sensor assemblies that we've put together. So, these IR sensors are going to go two
on the side. And you're going to place one of the
screws in this slot right here. And you're going to place the other screw
in this slot right here. And so, we are going to use one half 4/40
screw, goes right in there. Take your IR
sensor [INAUDIBLE] and from
the under, underside We'll take one of the nuts and just screw it on to that
half-inch screw. So, when you tighten that down,
first you'll tighten down the half-inch screw,
and then you'll tighten down the quarter-inch screw.
And that will actually push in to that half inch screw there.
So you'll do that all the way around. So you'll attach the other screw right
here. Do it on the other side.
This is why you want to start with the [UNKNOWN] off.
[SOUND] Then for the top one. I'll
take this one off and show you where the top
one's going to go in the front of the, in the front of the robot.
So you'll take it And it's going to be offset
from the center, so one the half inch screws that's going to hold the IR sensor
is going to go in this front slot here, on the right side, your looking at it in
this direction. The other half inch screw Is going to go
in this middle slot here, on the left side.
And then again, take your ir sensor assembly,
screw it in with the two nuts into those screws
there. It's going to be offset, that's okay
because this sensor is going to be in the middle.
Sensor actually on the ir sensors in the middle.
So attach those three upper IR sensors. The last step is you're going to take your
top plate assembly with all your IR sensors, not shown here, and you're
going to attach it to the bottom plate assembly.
And so it'll fit perfectly onto the standoffs that
you screwed into the bottom plate assembly, these four standoffs.
And it'll fit into these two holes here, and
These two slots here. Once you've done that, you should have a
robot that looks like this. Have the bugle bone attached, all five IR
sensors And your battery holders.
And you're all done. So next week I will show you actually how
to wire it together.