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rig N TH 9 S ht ER I NT E So H MA la IS Y DO B rb E ot ic CU ER M R s Lt EN O R d, T S 19 AN 98 D
#6: t i K r a l BEA M So
Skill Level
"
This BEAM spherical robot has the ability to seek out sources of light in its environment by using chaotic behavior, and it never gets stuck in corners! (Soldering skill required)
Ball-Shaped BEAM Robots? Absolutely! Explore their interesting behavior with this kit!
Produced by
Ltd.
- 0.22F Monolithic Capacitors - 4700F 6.3V Electrolytic Capacitor - 0.33F 2.5 volt AL Series Gold Capacitors - 2.2k Resistor (Red / Red / Red) - 300 k Resistor (Orange / Black / Yellow) - 1381 Voltage Trigger - 2N3904 Transistor - 2N3906 Transistor - 1N914 Diode - 4536 Digital Timer Chip - 37x33mm Solarcell - 5 Pole DIP Switch - Hand-tuned Gearhead Motor - Lock-Collar - Lock-Collar Allen-Wrench - 0.9 long, 5/8 dia. Brass Tubing - 0.75 long, 9/32 dia. Brass Tubing - 2-56 Bolts & Lockwasher pairs - Nylon Clamp, 6-32 Bolt, Plastic Washer, and Locknut set - 4 Transparent Plastic Sphere - Suction Cups - Solarcell Wire Pair - Set of Instructions (duh!)
- Miniball 1.0 Printed Circuit Board (PCB)
We strongly suggest you inventory the parts in your kit to make sure you have all the parts listed. If anything is missing, contact Solarbotics Ltd. For replacement parts information. Disclaimer of Liability Solarbotics Ltd. Is not responsible for any special, incidental, or consequential damages resulting from any breach of warranty, or under any legal theory, including lost profits, downtime, good-will, damage to or replacement of equipment or property, and any costs or recovering of any material or goods associated with the assembly or use of this product. Solarbotics Ltd reserves the right to make substitutions and changes to this product without prior notice.
The BEAM MiniBall 1.0 started out as an idea by Richard Weait of Toronto, Canada as a way to build a selfcontained solar-powered device that could compete in both the Photovore and Solaroller competitions at the 1993 BEAM Robot Olympics. It did marginally well, placing in both events. Not bad for a device that was essentially a solarengine circuit mounted in a pet store-bought hamster ball. Since then, it has evolve mechanically and electronically into the kit you have before you now - a high-activity, robust BEAM robot. The MiniBalls entire purpose in life is to store up solar power into a capacitor, then periodically use this energy to rotate its inner workings forward so it can roll forward. Thats it. By design, it has no way to steer, or way to sense which direction has more light, but despite this, it is a phototropic, or light-seeking robot that can find its way to a source of light. After our original introduction to the MiniBall, we built a small flock (is that the right term? Flock of MiniBalls?) that we set loose in our Robot Jurassic Park. These small 10cm (2-1/2) spheres happily rolled around, ricocheting off each other and the other robots in the park, and simply never got stuck. Other traditional BEAM designs required the odd human intervention to get them unstuck from a BEAM pile-up, or from a dead-end corner they couldnt turn out of, but the MiniBalls never required outside help. Being spherical, they didnt have a top or bottom side. And as the sphere was sealed, they hadnt any parts to get caught on any obstacles. Their only major problem is that they have a difficult time getting out of a depression (no, not a Im feeling blue depression) in their environment. That is, if they were released into the wild, they would happily roll down into a gutter or drainage basin and never be able to climb out. But since most desktops and Robot Jurassic Parks (RJP) dont have a low spot, this is not a problem. And even if a super-deluxe RJP had a beach with water, the sealed MiniBall would happily plop into the lake and float away!
M MOTOR
DIODE
ABCD
Leave 0
Balance
300k
D Bal
TRIG.
ABCD
Leave 0
4536
300k 300k
3 2
M MOTOR
ABCD
Leave 0
Balance
300k
2.2k
Step 5: Install the four 0.22F capacitors. It doesnt matter which way they go in. Step 6: Install the diode (make sure the band on the diode matches where the band is on the PCB)
D Bal
TRIG.
ABCD
Leave 0
4536
ABCD
Balance
224
ABCD
224
224
4536
224
1 2 3 4 5
6
224
Install diode
300k 300k
M MOTOR
DIODE
Step 7: Install the pair of 0.33F 2.5 volt capacitors. These are linked in series, so they turn into one big 0.165 farad 5 volt capacitor. We do this so that the 5 volt solarcell can be better utilized.
2.2k
Leave 0
300k
1 2 3 4 5
TRIG.
Bal
Leave 0
Step 8: Install the 4700F capacitor. This cap keeps power going to the timer when the two 0.33F caps are discharging and making the MiniBall go zooooom! It also acts as a ballast to help keep the MiniBall upright. Mount it so that it lays directly on top of the 4536 timer chip we installed earlier.
300k 300k
DIODE
Step 9: Now install the 3906 transistor as shown. Do the same for the 3904 transistor and the 1381 trigger. Make sure the are oriented just as shown in the picture, otherwise they wont work.
2.2k
ABCD
Leave 0
Balance
300k
1 2
9a
3906
ABCD
Leave 0
224
4536 4536
9c
3904
224
3 4 5
224
300k 300k Bal
TRIG.
9b
1381 trigger
Youve finished all you can on this side - now lets flip it over, and get the serious hardware installed!
+ GEARMOTOR Solar Cell MINIBALL 1.0
(C) Solarbotics Ltd 1998
1381
224
Step 10: Find the plastic clamp, the one large bolt and nut, and the smaller piece of brass tubing. Youll be able to identify it because it is the only piece that will slide inside of one of the other pieces. Place the clamp over the tube, and slip the bolt through, like in this picture. Then mount it in the clamp slot, with the clamp side up. Secure it with the nut on Arranging the Clamp Parts the underside with the washer, but not too tight - we will still have to align it with the motor.
10
Install clamp & tube assembly with bolt, washer, and lock nut.
11a
11b
Align Lock-Collar
11d
11c
Solder in Lock-Collar
MINIBALL 1.0
(C) Solarbotics Ltd 1998
Step 12: Next, the gearmotor! This is a hand-crafted and tuned piece of machinery - not to be abused (dont throw it at your cat)! Bolt it into place using the two small screws and lock washers. Dont ignore the lock washers, as theyll keep your gearmotor in place nice and snug over the many years your MiniBall will be running.
12
13
Step 14: This is simple enough - soldering the motor to the PCB. Connect the red wire to the pad nearest the +, and the blue wire to the other one.
14
Step 15: Solder the red & black twisted wire to your solarcell and to the pads on the PCB marked SolarCell (duh). Red goes to positive (+), black goes to negative (). Once this connection is made, TEST it. Make sure it spins the motor once every minute (the default setting). If it does, glue the solarcell and wires to the face of the PCB, as close to the center as you can get. Otherwise, figure out why it doesnt work!
15
The Brains and Brawn are finished! Now for the Body...
Step 16: Remove the plastics spheres from the wrapping, and clip off the hanging tabs. If you want to get real fancy, file off the remaining little overhang to make the ball really smooth.
16
Center the pyramid on the lines, and put a half-ball on top to locate the center!
Cut this out, fold on the dotted lines, and tape together!
18
Step 19: Take the remaining brass sleeve and push it onto one of the suction cup ends. If the fit isnt particularly snug, you may want to glue it to the suction cup.
19
Step 20: Now the fun part - putting the whole thing together! Push the MiniBall PCB onto the other suction cup/half-ball by its brass tube. Slip the other half-ball onto the brass tube held by the clamp on the PCB. The two halves should meet and snap together! If they dont, check for misalignment where you stuck the suction cups to the ball-halves. Also make sure your solarcell isnt scraping the inside of the ball - this will leave scratches and quite possibly keep your MiniBall from operating. You may have to re-adjust where the solarcell is positioned. If you experience slippage where the driveshaft meets the suction cup, use glue to attach it firmly to the cup.
20b
20a
A B C D Minutes
0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1
1.04 2.08 4.16 8.31 16.63 33 67 133 266 532 1064 2128 4256 8513 17025 34050
0.02 0.03 0.07 0.14 0.28 0.55 1.11 2.22 4.43 8.87 17.73 35.47 70.94 141.88 283.75 567.50
Hours
Switch E controls if the 4.8volt limiter is put into effect. We recommend you do, as it will protect your capacitors from accidental overcharge. There is an additional benefit in that if your solarcell does charge they system up to 4.8 volts before the timer expires, it forces a trigger, and then resets the timer. This keeps your MiniBall from waiting too long when it is at a full charge. This means that in direct sunlight, your MiniBall will be GKEJA active!
Timing components selected to provide ~4.1 Hz. Vcc D1 1N914 Vcc + C5 4700uF
1 2 3 4 5
9 10 11 12 6 7 14 3 15 1 2
A B C D
4536 U1
4 5 13
C7
.22
M1 MOTOR R4 2.2k PNP 3906 + C3 0.33F 2.5V + C4 0.33F 2.5V U2 1381 B Output Gnd C6 C .22
A -
SolarCellVcc 3733 E
3904 NPN
R5 300k