Robot kit NIBObee Construction manual version 2014/12/01
Construction manual for robot kit NIBObee 01.12.2014 Safety instructions For construction and operation of the robot please consider the following safety instructions: • • • • • • • The robot kit Nibo2 is designed for learning, teaching and experimental purposes only. The company does not accept any liability for other uses of the programming adapter. Any other use is at the users own risk. No machines must be attached to the robot. In particular the operation with devices on main voltage is forbidden.
Construction manual for robot kit NIBObee 01.12.2014 Table of contents 1 Introduction and overview.............................................................................5 1.1 Features.................................................................................................6 1.2 Motors....................................................................................................7 1.2.1 Odometry........................................................................................7 1.2.
Construction manual for robot kit NIBObee 01.12.2014 2.5.3 Assembling of the sensor boards.................................................41 2.5.4 Assembling of the feelers.............................................................43 2.5.5 Attaching the wheels.....................................................................45 2.5.6 Insertion of the ICs........................................................................46 3 Preparation for operation...............................................
Construction manual for robot kit NIBObee 01.12.2014 1 Introduction and overview The robot kit NIBObee is a programmable autonomous robot which was especially developed for pupils and students. It can be programmed in C, C++, Java and assembler. NIBObee is a complete solution system with an ATmega16 as „thinking“ unit, different sensors for the perception of its environment and an integrated USB programmer, which also provides as battery charger for the rechargeable batteries.
Construction manual for robot kit NIBObee 1.1 01.12.
Construction manual for robot kit NIBObee 1.2 01.12.2014 Motors The robot is driven by two motors with 25:1 transmission. The motors are driven by a H-bridge with a 14,7 kHz PWM-signal. The PWM-signal can be regulated by odometry-sensors, thus it is possible to drive with constant speed. 1.2.1 Odometry The direction of rotation and the speed of the wheels is measured by two photo-transistors and two IR-LEDs on the middle gearwheel of the transmission.
Construction manual for robot kit NIBObee 1.3 01.12.2014 Sensors The robot is able to learn and to react to environmental conditions by its sensors. The following subsections describe the sensors in detail. 1.3.1 Touch sensors / feelers NIBObee has two feelers and four touch sensors to detect obstacles. Each feeler is controlled by two touch sensors, so it is also possible to detect the direction of an obstacle: 1.3.
Construction manual for robot kit NIBObee 1.5 01.12.2014 Interfaces / Extension ports The NIBObee has 5 extension ports. Each of these ports has four contacts: plus, minus and 2 signal bits. The port X2 and the port X3 are located near to the small hole raster fields, where additional sensors e.g. photo-sensitive resistors or temperature sensors can be contacted.
Construction manual for robot kit NIBObee 1.6 1.6.1 01.12.2014 Other hardware components Status LEDs The two yellow LEDs (LED0 and LED3) and the two red LEDs (LED1 and LED2) show the actual status of the robot. They can be controlled by own programming. 1.6.
Construction manual for robot kit NIBObee 01.12.2014 2 Assembling of the robot Please read the following chapter completely before you begin with the assembly! 2.
Construction manual for robot kit NIBObee 2.2 01.12.2014 Soldering For soldering you should use a regulated soldering station with at least 50 W and a fine tip. Hint: The manual of the soldering station should definitely contain the word “regulated”. A regulated soldering station means, that it “knows” exactly the temperature of its tip. So it is able to readjust the temperature if its necessary.
Construction manual for robot kit NIBObee 01.12.2014 Soldering should work like this: Video „Soldering in 30 seconds“ http://www.nicai.eu/soldering If it doesn't work as seen in the video, it can be useful to check the own soldering equipment and/or get someones help. The soldering time should be limited to a few seconds (not minutes!) for each pad. Most electrical components react sensitively to high temperature.
Construction manual for robot kit NIBObee 2.3 01.12.2014 Placing components onto the circuit boards This section describes how to place the electrical components onto the circuit boards. First of all an overview of the plain boards: Main circuit board (board ): http://nibobee.nicai-systems.
Construction manual for robot kit NIBObee 01.12.2014 All boards must be separated from the frame first e.g. by a universal pliers: Tip: First of all keep all board parts, in order to miss no parts! Boards and : Boards and : http://nibobee.nicai-systems.
Construction manual for robot kit NIBObee 01.12.2014 Boards and : Board : Supporting circuit boards: http://nibobee.nicai-systems.
Construction manual for robot kit NIBObee 01.12.2014 The finished circuit boards should look like this: Main circuit board (board ): http://nibobee.nicai-systems.
Construction manual for robot kit NIBObee 01.12.2014 The circuit boards and have to be soldered from the bottom side: None electronic parts have to be soldered onto the boards and . Boards and (Top sides): Boards and (Bottom sides): Board : http://nibobee.nicai-systems.
Construction manual for robot kit NIBObee 01.12.2014 Information: The version 1.14 of the circuit board will have some changes, which are desired from our customers. All changes are optional extension possibilities and will not be assembled. The kit includes no electrical parts for these extensions! 1. External power input: With the connector X8 the NIBObee can be powered by an external 5V power supply unit. Therefore the jumper JP1, JP2 and JP3 must be removed. 2.
Construction manual for robot kit NIBObee 01.12.2014 The sequence of placement depends on the height of the components to make all soldering pads well accessible. The following subsections are sorted according to this criterion. Information: All circuit boards ( - ) are assembled in this chapter. 2.3.1 Resistors The resistors are soldered horizontal onto the boards. You don't have to pay attention to the polarity. The legs must be bent over, as shown in the illustration.
Construction manual for robot kit NIBObee 01.12.
Construction manual for robot kit NIBObee 01.12.2014 The following overview diagram simplifies the placement of the resistors to the main circuit board. All resistors are shaded light grey, are thickly bordered and contain their specific value. http://nibobee.nicai-systems.
Construction manual for robot kit NIBObee 2.3.2 01.12.2014 Zener-/Schottky-Diodes The Zener diodes D9 and D10 of type part type BZX83V003.6 (respectively BZX83 D9 V003.6 D10 55C3V6) and the Schottky diodes D11, D12 and D14 of type BAT85 must be bend like the resistors BAT85 D11 before placement. You have to pay attention to the D12 D14 polarity: the cathode is indicated by the ring on the diode and must be soldered at the white line, respectively the symbol of the diode, marked on the circuit board.
Construction manual for robot kit NIBObee 2.3.5 Ceramic plate capacitors The four ceramic plate capacitors C1, C2, C12 and C13 have a capacity of 22 pF (imprint: 22). You don't have to pay attention to the polarity. 2.3.6 01.12.2014 value part 22 pF C1 C2 C12 C13 value part Crystal The crystal Q10 has a frequency of 15,000MHz. After positioning the housing should not be in contact with the board (Optimal distance to the board: 1mm). You don't have to pay attention to the polarity.
Construction manual for robot kit NIBObee 01.12.2014 mounted with a distance of about 2 mm: !! Important !! The NIBObee must never be switched on without inserted IC3 (74HC139), otherwise the transistors will be destroyed! 2.3.9 PNP Bipolar-transistors The five PNP bipolar-transistors T1, T2, T3, T6 and T7 are of the type BC327. During placement you have to pay attention to the polarity! The flat side of the transistor is marked on the circuit board. 2.3.
Construction manual for robot kit NIBObee 01.12.2014 the longish soldering pads on the bottom side of the circuit board: Bottom side of board : Bottom side of board : long leg short leg short leg long leg After bending, the legs have to be shortened to the right length: Now the components have to be soldered on the boards: The top sides of the finished boards should look like this: http://nibobee.nicai-systems.
Construction manual for robot kit NIBObee 2.3.11 01.12.2014 IR-LEDs The IR-LEDs IR3 and IR4 have to be type part soldered onto the board . IR-LED IR1 IR2 You have to pay attention to the IR3 polarity: the short leg must be placed IR4 into the rectangular soldering pad. IR1 must be soldered onto the bottom side of board , below the label „IR1“. IR2 must be soldered onto the bottom side of board , below the label „IR2“. The short leg must be placed into the rectangular soldering pad. 2.3.
Construction manual for robot kit NIBObee 2.3.15 2.3.16 2.3.17 Button The placement of the buttons SW1 SW4 is protected against polarity reversal. You have to place it onto the board with soft pressure till it snaps in. (see the picture of the finished main circuit board on page 15). type part Button SW1 SW2 SW3 SW4 The toggle switch S1 may be soldered onto the board in both possible orientations, the functionality stays the same.
Construction manual for robot kit NIBObee 2.3.19 USB socket During installation of the USB socket X6 you should pay attention to the fact that the smaller pins are not bent. The part is polarity safe. The USB socket is soldered at large at 6 soldering pads. 2.3.20 01.12.2014 type part USB socket X6 Battery packs Now the two battery packs will be attached to the main circuit board. First of all they must be fixed each with one small cable strap.
Construction manual for robot kit NIBObee 01.12.2014 According to this the battery packs of the type B are put on the board with the soldering contacts (outside contact plates) pointing to the edge of the board: The soldering contacts of the battery packs of type A must point to the middle of the main circuit board. Before soldering the battery packs must be fixed with the small cable straps at the circuit board.
Construction manual for robot kit NIBObee 01.12.2014 Finally the packs must be soldered (each at two contacts) to the circuit board. The following photo shows the result with battery packs of the type B: http://nibobee.nicai-systems.
Construction manual for robot kit NIBObee 2.4 01.12.2014 Visual inspection of the circuit board Before the board is attached for the first time to a power supply, all electrical components must be checked for the correct assembly. Therefore you have to check all values. Afterwards you have to pay attention to the polarity and the correct installation respectively.
Construction manual for robot kit NIBObee 2.5 2.5.1 01.12.2014 Assembling of the modules Preparatory operations The two red double gearwheels must be pressed onto the two short steel axes (3x20 mm). Therefore you have to press the axis with the help of a small hammer into the side of the gearwheel with the smaller gear: Then you have to press the axis carefully with the small hammer through the gear. Afterwards the gearwheel should be in the middle of the axis: Tip: This works easier e.g.
Construction manual for robot kit NIBObee 01.12.2014 Now the both white double gearwheels have to be pressed onto the two long steel axes (3x37 mm). Therefore you have to press the axis with the help of a small hammer into the side of the gearwheel with the smaller gear. Then you have to press the axis carefully with the small hammer through the gear.
Construction manual for robot kit NIBObee 2.5.2 01.12.2014 Assembling of the engine section / transmission unit Now the two motors and the circuit boards and have to be fixed to the main circuit board. First of all put the motor axis through the boards as shown below. The soldering contacts of the motors must point downward. In case of one motor does not fit correctly into the hole, the hole can be carefully widened with a 6mm drill bit.
Construction manual for robot kit NIBObee 01.12.2014 As soon as the motor fits correctly the board is soldered to the main circuit board beginning with the middle soldering contact (see pictures). The mechanical soldering joints work with the help of capillary action: you tin the respective point sparse with tin-solder and heat the point afterwards about 10 seconds with the soldering iron. Because of the capillary action the tin-solder will be pulled inwards and the boards will be fixed together.
Construction manual for robot kit NIBObee 01.12.2014 Now the other mechanical connections (red arrows) must be soldered from the bottom side of the main circuit board. Don't use too much tin-solder! Then the motor contacts have to be soldered to the board (white arrows). Now the two electrical contacts between the main circuit board and the board have to be soldered: http://nibobee.nicai-systems.
Construction manual for robot kit NIBObee 01.12.2014 Now the left side of the transmission unit has to be assembled: Put the white plastic distance ring to the short axis with the red gearwheel (to the opposite side of the little gearwheel). Then the axis must be put (with the distance ring ahead) into the borehole below the photo-transistor PT1.
Construction manual for robot kit NIBObee 01.12.2014 Tin the respective points sparse with tin-solder and heat the points afterwards about 10 seconds with the soldering iron. The result should look like this: http://nibobee.nicai-systems.
Construction manual for robot kit NIBObee 01.12.2014 At the internal side you have to solder two points: Now the left side of the transmission unit is completed. The right side of the unit must be assembled according to the left side. Tip: You can reduce the operating noise by careful greasing the transmission (see chapter 3.4 on page 48). http://nibobee.nicai-systems.
Construction manual for robot kit NIBObee 2.5.3 01.12.2014 Assembling of the sensor boards The sensor circuit boards and must be put into the main circuit board. For easy assemblation you take the board a little bit sloped and put the front side first through the main board. The boards are not soldered yet! The board is labeled with “LEFT” and must be put into the slot LEFT. The board has to be put into the right side. Now the board must be pressed on from the bottom side.
Construction manual for robot kit NIBObee 01.12.2014 If everything is well aligned, the boards are now fixed by soldering. First of all just the both middle placed soldering points of the board are soldered (red arrows). Then the boards and are soldered with the main circuit board (white arrows). Now the mechanical assembly should be fixed. Finally the remaining contacts have to be soldered on both sides (all in all 12 contacts): http://nibobee.nicai-systems.
Construction manual for robot kit NIBObee 2.5.4 01.12.2014 Assembling of the feelers Now the both oblong supporting circuit boards have to be prepared. Cut the silver wire into two similar halves and put each one through the boards as shown below. Then the wire has to be bent over at both sides: The wire must be soldered to the contacts of the board on both sides.
Construction manual for robot kit NIBObee 01.12.2014 Now the two long cable straps have to be shortened to 10 cm each (cut off at the correct side!) and they must be slightly formed as shown in the pictures. The enclosed heat-shrinkable tubing must be divided into two similar halves: The pieces of heat-shrinkable tubing must be pushed over the oblong supporting circuit boards and then they are fixed by shrinking with the soldering iron.
Construction manual for robot kit NIBObee 01.12.2014 The result should look like this: 2.5.5 Attaching the wheels The both wheels have to be put onto the drive shafts so that they are performing well. To avoid damaging the transmission you shall press (e.g. with a crayon) against the opposite side of the axis: http://nibobee.nicai-systems.
Construction manual for robot kit NIBObee 2.5.6 01.12.2014 Insertion of the ICs !! Important !! The NIBObee must never be switched on without inserted IC3 (74HC139), otherwise the transistors for the motor-control will be destroyed! The four ICs must be put with careful pressure into the sockets.
Construction manual for robot kit NIBObee 01.12.2014 3 Preparation for operation After finishing the preparations the NIBObee can now be activated step by step for the first time. !! Important !! The NIBObee must never be switched on without inserted IC3 (74HC139), otherwise the transistors for the motor-control will be destroyed! 1. Switch-off the NIBObee 2. Take off the jumper JP7 3.
Construction manual for robot kit NIBObee 3.3 01.12.2014 Testing of the feelers Press the left feeler forward (in driving direction) – LED1 must glow, LED0, LED2 and LED3 must be dark. Press the left feeler backward – LED0 must glow, LED1, LED2 and LED3 must be dark. Press the right feeler forward – LED2 must glow, LED0, LED1 and LED3 must be dark. Press the right feeler backward – LED3 must glow, LED0, LED1 and LED2 must be dark. 3.4 Motor control test Now the jumper JP7 has to be placed.
Construction manual for robot kit NIBObee 01.12.2014 Additional the axis of the white wheels can be greased: http://nibobee.nicai-systems.
Construction manual for robot kit NIBObee 3.5 01.12.2014 Fixing the half sphere The smaller half sphere must be fixed (e.g. with glue or hot glue) to the bottom side of the main circuit board: Finally the big half sphere must be put onto the NIBObee – now the robot is ready for takeoff! http://nibobee.nicai-systems.
Construction manual for robot kit NIBObee 3.6 01.12.2014 Installation of the NiboRoboLib Now the NiboRoboLib has to be installed. The latest version and an installation manual (.pdf) are to find here: http://www.roboter.cc/niboRoboLib All files are also available on the enclosed CD. The NiboRoboLib contains: All necessary drivers for NIBO2 All necessary drivers for NIBObee RoboDude (transmission programm for .hex- and .
Construction manual for robot kit NIBObee 3.7 01.12.2014 Programming There are different possibilities / programming environments for NIBObee: 3.7.1 NIBObee Coding Tutorial (german) Possibility 1: You can easily start programming with the interactive NIBObee Coding Tutorial. It guides you through all functions of the robot and simultaneously you learn programming: http://www.roboter.cc/codingTutorial/nibobee http://nibobee.nicai-systems.
Construction manual for robot kit NIBObee 3.7.2 01.12.2014 Online-Compiler – Roboter.CC Possibility 2: Additionally you have the possibility to program the NIBObee online at the Roboter.CC platform: Roboter.CC is an open-source platform. You can create own robotic projects, manage and compile them at the platform. You can also easily test existing program examples. All projects are compiled online at Roboter.
Construction manual for robot kit NIBObee 01.12.2014 Easily: 1. Choose robot type and programming language 2. Write the program code 3. Transfer the resulting XHEX-file with RoboDude to the robot Or: 1. Choose an already existing XHEX-file 2. Transfer the XHEX-file with RoboDude to the robot There is also a user forum (german) with lots of additional information, ideas, questions and answers! http://www.roboter.cc http://nibobee.nicai-systems.
Construction manual for robot kit NIBObee 3.7.3 01.12.2014 NIBObee C-programming tutorial (german) Possibility 3: You can also program the NIBObee with the Atmel AVR-Studio programming environment: A german C programming tutorial inclusive installation manual with lots of examples and explanations is to find here: http://www.nicai-systems.com/nibobee.html?lang=de#downloads-links http://nibobee.nicai-systems.
Construction manual for robot kit NIBObee 3.7.4 01.12.2014 NIBObee ARDUINO Tutorial (german) Possibility 4: It is also possible to program the NIBObee in ARDUINO: A german programming tutorial inclusive installation manual with lots of examples and explanations is to find here: http://www.nicai-systems.com/nibobee.html?lang=de#downloads-links http://nibobee.nicai-systems.
Construction manual for robot kit NIBObee 3.8 01.12.2014 Charging the rechargeable batteries by USB The rechargeable batteries of the NIBObee can be charged as follows: 1. The robot is switched off and 2. It is connected over USB with the computer and 3.
Construction manual for robot kit NIBObee 3.9 01.12.2014 Additional information The NIBO-Wiki provides additional information like FAQ's, service links for replacement parts, technical details and much more: http://www.nibo-roboter.de http://nibobee.nicai-systems.
Construction manual for robot kit NIBObee 01.12.2014 4 Appendix 4.
Construction manual for robot kit NIBObee 4.2 01.12.
Construction manual for robot kit NIBObee 01.12.2014 Name Type Value Package R19, R25, R35, R43, R44, R45 R23, R26, R32, R33, R39, R40, R41, R42, R46, R47, R48, R49, R50 R29 R9, R13, R20, R21, R22 S1 SW1, SW2, SW3, SW4 T1, T2, T3, T6, T7 T4, T5, T8, T9 X6 resistor 47k R-EU_0207/10 resistor 180 R-EU_0207/10 resistor resistor 100k 3R3 TRIM_EU-CA6H R-EU_0207/10 switch button PNP transistor NPN transistor USB-B socket http://nibobee.nicai-systems.
Construction manual for robot kit NIBObee 01.12.2014 5 Links In this subsection you can find a selection of links to web pages with related topics. Development environments: Atmel: http://www.atmel.com Web page of the microcontroller manufacturer. There are data sheets, application notes and the development environment AVRStudio. WinAVR: http://winavr.sourceforge.net/ AVR-GCC compiler for Windows with many add ons, especially for AVRStudio. AVRDude AVRDude: http://savannah.nongnu.
