Builder`s Guide

By Ray Grissom
Builder’s Guide
60160
Contents
Preface....................................................................................................................................................................................2
Grade Level Appropriateness........................................................................................................................................2
Using This Guide.................................................................................................................................................................3
Safety Information.............................................................................................................................................................4
Parts Identification.........................................................................................................................................................5-8
Student Parts Assemblies...............................................................................................................................................9
Remote Control Setup.................................................................................................................................................. 10
Construction Tips .....................................................................................................................................................11-17
Wheelee Bot
• Assembly...........................................................................................................................................................20-33
• Activities.................................................................................................................................................................. 34
• Gripper Assembly................................................................................................................................................ 35
Buggee Bot
• Assembly...........................................................................................................................................................38-59
• Activities.................................................................................................................................................................. 60
• Buggee Bot Moving Gripper Assembly................................................................................................61-62
Pickee Bot
• Assembly...........................................................................................................................................................64-87
• Activities.................................................................................................................................................................. 88
Accessories Section
• Ball Rack Assembly........................................................................................................................................89-94
Written by Ray Grissom.
Content advising by Paul Uttley.
Graphics by Todd McGeorge.
©2014 Pitsco, Inc., 915 E. Jefferson, Pittsburg, KS 66762
All rights reserved. This product and related documentation are protected by copyright and are
distributed under licenses restricting their use, copying, and distribution. No part of this product
or related documentation may be reproduced in any form by any means without prior written
authorization of Pitsco, Inc.
All other product names mentioned herein might be the trademarks of their respective owners.
Note about photocopying: By honoring our copyright, you enable us to invest in research for
education.
1
Preface
This builder’s guide has been developed to provide students with positive experiences in robotics
engineering. With the assistance of this guide, students will learn to use the TETRIX® PRIME parts to
design and construct three different robots. After using this guide, students should be able to use the
TETRIX PRIME parts to construct a robot of their own design.
Grade Level Appropriateness
The activities used in this guide are targeted toward middle school students. With some additional
instruction, upper elementary students should be able to successfully complete the activities.
Additionally, secondary teachers could use these parts to provide an exploratory experience in
engineering.
2
Using This Guide
The activities in this guide build upon each other. The activities should be completed in the order in
which they are presented. Concepts explored in one activity might not be repeated in later activities,
but students could be required to understand the concepts in order to be most successful.
3
Safety Information
Mechanical
• Keep fingers, hair, and loose articles of clothing clear of gears and moving parts.
• Never pick up the robot while it is moving or the servo motors are running.
• Remove any burrs caused by cutting the metal beams.
Electrical
• Make sure the power is turned off when the robot is not in operation.
• Do not operate the robot in a wet environment.
• Always power down the robot before making any changes.
• Use caution when working with bare wires to avoid creating a short circuit situation.
• Route wires carefully, and secure them if necessary to avoid damage to the wire or its insulation.
• Mount the battery pack and remote receiver securely.
4
Parts Identification
The beams are named by the number of small holes on one side of the beam. Do not select beams by
counting the larger holes.
Beams
1
2
3
4
To identify TETRIX PRIME beams, count the small holes.
The example above is a 4-Hole Beam.
2X – 15-Hole Beam 40207
2X – 13-Hole Beam 40206
4X – 8-Hole Beam 40205
4X – 7-Hole Beam 40204
4X – 6-Hole Beam 40203
4X – 5-Hole Beam 40202
4X – 4-Hole Beam 40201
5
Internal Connectors
4X – 3-Way Beam Connector 40212
4X – 90-Degree Beam Connector 40211
4X – Tee Beam Connector 40213
4X – Beam End Connector 40214
4X – Beam Extension 40322
4X – Straight Beam Connector 40215
6
Brackets and Fasteners
10X – 90-Degree Bracket 40208
10X – 60-Degree Bracket 40209
10X – Tee Bracket 40210
24X – Quick Rivet Peg 40220
24X – Quick Rivet Connector 40219
25X – Thumbscrew 40323
24X – Wing Nut 40221
10X – 90-Degree Cross Block Connector 40217
10X – Straight Block Connector 40216
4X – Beam Attachment Hub 40228
7
Motion Parts
4X – 90 mm Wheel & Tire 40222
4X – 80-Tooth Gear 40224
4X – 40-Tooth Gear 40223
4X – Servo Shaft Hub 40230
2X – Battery Holder 40236
6X – 80 mm Axle 40225
6X – 40 mm Axle 40226
12X – Bronze Bushing 40227
8X – Shaft Collar 40229
25X – Setscrew 40516
8
Student Parts Assemblies
Continuous Rotation Servo
Battery Charger
Standard Servo
Power Switch
Gripper Assembly
Ball
Pylon/Container
9
Remote Control Setup
Your TETRIX PRIME robot is controlled by a standard 2.4 GHz remote controller and an accompanying
receiver mounted to the robot. Transmitters are connected to specific receivers, allowing multiple
transceiver combinations to be used in the same area.
1X – Receiver
1X – Controller
Transmitter and Receiver Connection Procedure:
The wireless game pad transmitter must be linked to the receiver with a unique ID code in order to
function properly. To do this, follow these steps.
1. Make sure the transmitter is switched OFF.
2. Install four AA batteries in the transmitter. Connect the battery pack to the receiver; the red
LED will be flashing.
3. Press the CONNECT button on the side of the receiver. The red LED will change to a rapid
flashing rate.
4. Switch the power slide switch on the transmitter ON.
5. Press and hold down the transmitter CONNECT push button.
6. The red LED on the receiver will stop flashing. Release the transmitter CONNECT button.
7. The transmitter and receiver are now connected and ready for operation.
The transmitter might require periodic adjustment. Located next to each joystick are trimmer wheels
used to adjust the neutral position of each channel. Trim each channel by moving the wheel until no
movement of the servo occurs when the joystick is in the neutral position.
The direction of movement for servos might change due to servo positioning. To change the direction
of movement, use a small screwdriver to change the position of the NOR/REV switches on the
transmitter. Caution: Do not use a pencil to adjust the NOR/REV switch position. The material used for
pencil lead conducts electricity and could damage your controller.
10
Construction Tips
Connectors fit inside beams and come in straight, 90-degree, tee, and corner designs.
11
Quick rivets and pegs are a quick option to use when securing connectors. Press the rivet in place on
the beam and use the peg to spread the rivet to secure the connection. Using quick rivets on two sides
of the connection will make it more stable.
12
Joints can be made more permanent by using a thumbscrew and wing nut to secure the beams and
connectors.
13
Brackets can also be used to connect beams. Brackets are available for a tee connection, 60-degree
connection, or 90-degree connection. Brackets should be used in pairs, with two brackets on opposite
sides of a beam. Brackets are secured using quick rivets and pegs or thumbscrews and wing nuts.
14
End connectors, straight block connectors, and 90-degree cross block connectors are secured using a
thumbscrew through the beam and into the connector.
15
After the thumbscrew is used to secure the end of the connector, a quick rivet and peg or a
thumbscrew and wing nut are used to secure the intersecting beam.
16
Anytime an axle is used, it should be supported at two points. Place a bronze bushing on opposite
sides of a beam and place the axle through the bushings. Secure the axle to a stop collar, wheel, gear,
or hub.
17
18
Wheelee Bot
The Wheelee Bot is a basic three-wheel robot. Two servos are
needed: one continuous run servo is used for a drive wheel,
and one standard servo provides steering. As an option, a
gripper assembly may be added for picking up objects.
19
Wheelee Bot Assembly
Step 1
For this step you will need:
Quantity
1
1
1
2
1
2
1
Part
15-Hole Beam
Wheel & Tire Assembly
Continuous Rotation Servo Assembly
Setscrew*
40 mm Axle
Bronze Bushing
Thumbscrew
15-Hole Beam
Thumbscrew
Continuous Rotation Servo
40 mm Axle
Setscrew
Setscrew
Bronze Bushings
Wheel & Tire
*The setscrew might already be installed in the proper location so another setscrew will not be needed.
20
Step 1A
Step 1B
Step 1C
21
Step 2
For this step you will need:
Quantity
2
2
2
2
2
4
4
Part
Wheel & Tire Assembly
4-Hole Beam
Shaft Collar
40 mm Axle
90-Degree Beam Connector
Setscrew
Bronze Bushing
4-Hole Beam
40 mm Axle
Shaft Collar
Setscrew
Setscrew
Bronze Bushings
90-Degree Beam Connector
22
Step 2A
Step 2B
2X
Step 2C
Step 2D
Step 2E
23
Step 3
For this step you will need:
Quantity
1
4
4
Part
8-Hole Beam
Quick Rivet Connector
Quick Rivet Peg
Quick Rivet Peg
Quick Rivet Connector
Quick Rivet Connector
Quick Rivet Peg
24
8-Hole Beam
Step 3A
Step 3B
25
Step 4
For this step you will need:
Quantity
1
2
1
1
Part
Beam Attachment Hub
Thumbscrew
40 mm Axle
Setscrew
40 mm Axle
Beam Attachment Hub
Setscrew
Thumbscrew
26
Step 4A
Step 4B
27
Step 5
For this step you will need:
Quantity
1
2
1
1
Part
Standard Servo Motor Assembly
Bronze Bushing
Setscrew
Thumbscrew
Standard Servo Motor Assembly
Setscrew
Bronze Bushing
Thumbscrew
28
Step 5A
Step 5B
29
Step 5C
Step 5D
30
Step 6
For this step you will need:
Quantity
2
2
2
Part
Battery Mount Bracket with Bungee Band
Wing Nut
Thumbscrew
Battery Mount Bracket
Thumbscrew
Wing Nut
31
Step 6A
Step 6B
32
33
Making It Move
Install the battery using the Bungee Band provided. Connect the
continuous run servo motor to Channel 3 of the receiver. Connect the
standard servo motor to Channel 1. Connect the battery to the BAT
connection. Secure the receiver and wires so they do not become
entangled in moving parts. Turn on the remote controller and test
the operation of the Wheelee Bot. If the motion does not correspond
with the joystick movement, use a screwdriver to change the position
of the NOR/REV switches for the appropriate channel. If necessary, use the trimmer controls to stop all
movement of the servos when the joystick is in the neutral position.
Wheelee Bot Activities
After completing the construction of the Wheelee Bot, it is time to have some fun. Practice driving the
Wheelee Bot to familiarize yourself with the way it works.
Activity 1
Place a piece of masking tape on the floor and set cups upside down to resemble cones. Place the
cones in a straight line beginning 24 inches from the tape with 24 inches between each cone. Put
another piece of tape on the floor 24 inches past the last cone. Place your Wheelee Bot on the side
of the tape opposite the cones. Drive the Wheelee Bot through the cones in a slalom pattern. Use a
stopwatch to time how long it takes to drive Wheelee Bot through the slalom course to the tape at the
other end of the cones. Try to complete the slalom faster than your partner without hitting the cones.
Activity 2
After completing the build of the Wheelee Bot, you can add the optional Gripper Assembly. Refer to
the instructions on the following page for attaching the gripper.
Assemble the Ball Rack. Refer to the Accessories Section for instructions on how to assemble the Ball
Rack.
Place four balls on the crossbar of the Ball Rack. Place four small cups about four feet from the Ball
Rack. Use the remote controller to maneuver Wheelee Bot into position and pick up a ball using the
gripper. Drive the robot to one of the cups and place the ball into the cup. Harvest the remaining balls
from the rack and place them in the other cups. Make it a competition by timing how long it takes to
move all four balls from the rack to the cups.
Activity 3
With permission from your instructor, make modifications to improve the performance of the
Wheelee Bot. Some improvement ideas include reducing the turning radius, improving the stability, or
improving the steering response.
34
Wheelee Bot Gripper Assembly
Step 1
Step 2
Step 3
Step 4
Step 5
Step 6
Step 7
Step 8
35
36
Buggee Bot
The Buggee Bot is a basic rover-type robot. Two continuous
run servos are used for both propulsion and steering. The
Buggee Bot can be driven in tank mode or arcade mode. As an
option, a gripper assembly utilizing a standard servo may be
added for picking up objects from differing heights.
37
Buggee Bot Assembly
Step 1
For this step you will need:
Quantity
1
1
1
2
6
6
Part
8-Hole Beam
4-Hole Beam
Tee Beam Connector
End Beam Connector
Quick Rivet
Quick Rivet Peg
End Beam Connector
End Beam Connector
8-Hole Beam
Quick Rivet
Tee Beam Connector
4-Hole Beam
Step 1A
38
Quick Rivet Peg
Step 1B
Step 1C
Step 1D
39
Step 2
For this step you will need:
Quantity
2
2
2
2
Part
7-Hole Beam
90-Degree Beam Connector
Quick Rivet
Quick Rivet Peg
2X
Quick Rivet Peg
Quick Rivet
90-Degree Beam Connector
40
7-Hole Beam
Step 2A
Step 2B
41
Step 3
For this step you will need:
Quantity
1
2
2
2
Part
13-Hole Beam
Thumbscrew
Quick Rivet
Quick Rivet Peg
Quick Rivet Peg
Quick Rivet
13-Hole Beam
Thumbscrew
42
Thumbscrew
Step 3A
Step 3B
43
Step 4
For this step you will need:
Quantity
4
4
4
Part
60-Degree Bracket
Quick Rivet
Quick Rivet Peg
60-Degree Bracket
Quick Rivet
Quick Rivet Peg
Step 4A
44
Step 4B
Step 4C
45
Step 5
For this step you will need:
Quantity
2
2
2
4
2
2
4
4
4
Part
Continuous Rotation Servo Assembly
Wheel & Tire Assembly
40 mm Axle
Bronze Bushing
8-Hole Beam
Thumbscrew
Setscrew
Quick Rivet
Quick Rivet Peg
2X
Wheel & Tire Assembly
Thumbscrew
8-Hole Beam
Continuous Rotation Servo
Setscrew
46
Bronze Bushing
Step 5A
Step 5B
47
Step 5C
Step 5D
48
Step 6
For this step you will need:
Quantity
2
4
2
4
4
Part
13-Hole Beam
Thumbscrew
90-Degree Cross Block Connector
Quick Rivet
Quick Rivet Peg
90-Degree Cross Block Connector
13-Hole Beam
Thumbscrew
49
Step 6A
Step 6B
50
Step 6C
51
Step 7
For this step you will need:
Quantity
2
1
1
2
2
1
2
1
2
2
90-Degree Beam Connector
Part
4-Hole Beam
Thumbscrew
Wing Nut
Quick Rivet
Quick Rivet Peg
90-Degree Beam Connector
Bronze Bushing
40 mm Axle
Wheel & Tire Assembly
Setscrew
Thumbscrew
Wing Nut
4-Hole Beam
52
Step 7A
Step 7B
Step 7C
53
Step 7D
Step 7E
54
Step 8
For this step you will need:
Quantity
1
2
2
1
1
1
Part
Beam Attachment Hub
Thumbscrew
Bronze Bushing
40 mm Axle
Shaft Set Collar
Setscrew
40 mm Axle
Bronze Bushing
Beam Attachment Hub
55
Step 8A
Step 8C
56
Step 8B
Step 8D
57
Step 9
For this step you will need:
Quantity
2
6
2
1
2
58
Part
Battery Mounting Bracket
Thumbscrew
Wing Nut
15-Hole Beam
90-Degree Cross Block Connector
Step 9A
Step 9B
Step 9C
Step 9D
Step 9E
Step 9F
59
Making It Move
Install the battery using the Bungee Band provided. Connect the left continuous run servo motor to
Channel 1 of the receiver. Connect the right continuous run servo motor to Channel 3. Connect the
battery to the BAT connection. Secure the receiver and wires so they do not become entangled in
moving parts. Turn on the remote controller and test the operation of the Buggee Bot. If the motion of
each servo does not correspond with the joystick movement, use a screwdriver to change the position
of the DIP switches. If necessary, use the trimmer controls to stop all movement of the servos when the
joysticks are in the neutral position.
Buggee Bot Activities
After completing the construction of the Buggee Bot, it is time to have some fun. Practice driving the
Buggee Bot to familiarize yourself with the way it works.
Activity 1
Set the controller to operate in tank mode. Place four cups upside down to resemble cones. Place the
cones in a square pattern with 18-inch sides. Place your Buggee Bot in the center of the cones. Drive
the Buggee Bot around the cones in a figure-eight pattern. Use a stopwatch to time how long it takes
to drive the Buggee Bot through the pattern and back to the center of the cones. Try to complete the
figure eight faster than your partner without hitting the cones.
Activity 2
Set the controller to operate in arcade mode. Place four cups upside down to resemble cones. Place
the cones in a square pattern with 18-inch sides. Place your Buggee Bot in the center of the cones.
Drive the Buggee Bot around the cones in a figure-eight pattern. Use a stopwatch to time how long it
takes to drive the Buggee Bot through the pattern and back to the center of the cones. Try to complete
the figure eight faster than your partner without hitting the cones. Compare the time required to
complete the figure eight in each driving mode. Which operating mode allowed you to complete the
task faster?
Activity 3
After completing the build of the Buggee Bot, you can add the optional Gripper Assembly. Refer to
the instructions on the following pages for assembling and attaching the gripper. Invert two small
cups to serve as ball supports. Place two small cups about four feet from the two inverted cups. Use
the remote control to maneuver the Buggee Bot into position and pick up a ball using the gripper.
Drive the robot to one of the cups and place the ball into the cup. Harvest the remaining ball from the
support and place it in the other cup. Make it a competition by timing how long it takes to move both
balls from the support and place them in the cups.
Activity 4
With permission from your instructor, make modifications to improve the performance of the
Buggee Bot. Some improvement ideas include reducing the turning radius, improving the stability, or
improving the steering response.
60
Buggee Bot Moving Gripper Assembly
Step 1
Step 2
Step 3
Step 4
Step 5
Step 6
Step 7
Step 8
Step 9
Step 10
61
Step 11
Step 12
Step 13
Step 14
Step 15
Step 16
Step 17
62
Pickee Bot
Pickee Bot is a nonmobile pick-and-place robot, similar to an
industrial robot that might be used in a manufacturing plant.
Three servos are needed: two standard servos to operate and
elevate the gripper and one continuous rotation servo to pivot
the gripper.
63
Pickee Bot Assembly
Step 1
For this step you will need:
Quantity
1
1
1
1
1
4
4
Part
8-Hole Beam
4-Hole Beam
90-Degree Beam Connector
90-Degree Cross Block Connector
Thumbscrew
Quick Rivet Connector
Quick Rivet Peg
Quick Rivet Peg
8-Hole Beam
Quick Rivet
Quick Rivet
Quick Rivet Peg
90-Degree
Beam
Connector
Thumbscrew
4-Hole Beam
90-Degree Cross Block Connector
64
Step 1A
Step 1B
Step 1C
Step 1D
65
Step 2
For this step you will need:
Quantity
1
1
1
1
4
4
Part
90-Degree Beam Connector
4-Hole Beam
Thumbscrew
90-Degree Cross Block Connector
Quick Rivet Connector
Quick Rivet Peg
90-Degree
Beam
Connector
Quick Rivet
4-Hole Beam
90-Degree Cross Block
Connector
Thumbscrew
66
Step 2A
Step 2B
Step 2C
67
Step 2D
Step 2E
68
Step 3
For this step you will need:
Quantity
1
1
Part
Thumbscrew
13-Hole Beam
Thumbscrew
13-Hole Beam
Step 3A
69
Step 4
For this step you will need:
Quantity
1
2
2
1
1
1
Part
40-Tooth Gear
Setscrew
Bronze Bushing
Thumbscrew
40 mm Axle
Continuous Rotation Servo Assembly
40-Tooth Gear
Setscrew
Thumbscrew
Bronze Bushing
40 mm Axle
Continuous Rotation Servo Assembly
70
Step 4A
Step 4B
Step 4C
71
Step 5
For this step you will need:
Quantity
1
2
1
2
1
1
Part
80-Tooth Gear
Bronze Bushing
Thumbscrew
Setscrew
40 mm Axle
Shaft Set Collar
80-Tooth Gear
40 mm Axle
Bronze Bushing
Shaft Set Collar
Setscrew
72
Step 5A
Step 5B
73
Step 6
For this step you will need:
Quantity
2
1
Part
Thumbscrew
4-Hole Beam
Thumbscrew
4-Hole Beam
74
Step 6A
Step 6B
75
Step 7
For this step you will need:
Quantity
1
2
2
2
Part
5-Hole Beam
60-Degree Bracket
Thumbscrew
Wing Nut
5-Hole Beam
60-Degree Bracket
Wing Nut
Thumbscrew
76
Step 7A
Step 7B
77
Step 8
For this step you will need:
Quantity
1
1
2
1
1
Part
Standard Servo Assembly
40 mm Axle
Bronze Bushing
Thumbscrew
Setscrew
Standard Servo Assembly
Bronze Bushing
Thumbscrew
78
Setscrew
40 mm Axle
Step 8A
Step 8B
79
Step 9
For this step you will need:
Quantity
1
2
1
1
Part
8-Hole Beam
Thumbscrew
Setscrew
Beam Attachment Hub
Beam Attachment Hub
Setscrew
8-Hole Beam
Thumbscrew
80
Step 9A
Step 9B
81
Step 10
For this step you will need:
Quantity
1
1
1
Part
Thumbscrew
Wing Nut
Gripper Assembly
Thumbscrew
Wing Nut
Gripper Assembly
82
Step 10A
Step 10B
83
Step 11
For this step you will need:
Quantity
1
3
2
2
Part
5-Hole Beam
Thumbscrew
Wing Nut
Battery Mounting Bracket
5-Hole Beam
Thumbscrew
84
Step 11A
Step 11B
85
Step 11C
Wing Nut
Thumbscrew
Battery Mounting Bracket
Step 11D
86
Step 11E
Step 11F
87
Making It Move
Install the battery using the Bungee Band provided. Connect the continuous run servo motor to
Channel 3 of the receiver. Connect the standard servo motors to Channel 1 and Channel 2. Connect
the battery to the BAT connection. Secure the receiver and wires so they do not become entangled
in moving parts. Turn on the remote controller and test the operation of the Pickee Bot. If the motion
does not correspond with the joystick movement, use a screwdriver to change the position of the DIP
switches. If necessary, use the trimmer controls to stop all movement of the servos when the joystick is
in the neutral position.
Pickee Bot Activities
After completing the construction of the Pickee Bot, it is time to have some fun. Practice moving the
Pickee Bot and operating the gripper to familiarize yourself with the way it operates. Use caution not
to entangle the wires when rotating the gripper boom. Reverse your motion to avoid damaging the
wires.
Activity 1
Assemble the Ball Rack. Refer to the Accessories Section for instructions on how to assemble the Ball
Rack. Place the Ball Rack in a position so that Pickee’s gripper is able to reach both ends and the middle
holes. Place one cup to the right side of Pickee Bot, one to the left side of Pickee Bot, and one behind
Pickee Bot so that Pickee’s gripper is able to reach each of the cups. Place a ball on each end of the Ball
Rack and one in the middle. Maneuver Pickee’s gripper to pick up a ball and place it in one of the cups.
Make it a competition to see which partner is able to complete the task in the shortest amount of time.
Activity 2
Place an inverted cup in a position in front of the Pickee Bot so that Pickee’s gripper is able to reach a
ball placed on the cup. Place one cup to the right side of Pickee Bot and one to the left side of Pickee
Bot so that Pickee’s gripper is able to reach each of the cups. Place a ball on the inverted cup. Maneuver
Pickee’s gripper to pick up the ball and place it in one of the cups. Place another ball on the support
and maneuver Pickee to place this ball in the other cup. Make it a competition to see which partner is
able to complete the task in the shortest amount of time.
Activity 3
With permission from your instructor, make modifications to improve the performance of the Pickee
Bot. Some improvement ideas include eliminating the chance of wire entanglement, increasing the
gripper reach distance, improving the stability, or increasing the lifting power.
88
Accessories
Section
Ball Rack Assembly
Create this Ball Rack for use with any of the three Bots built using this guide.
Step 1
For this step you will need:
Quantity
2
4
2
Part
5-Hole Beam
90-Degree Cross Block Connector
Thumbscrew
Thumbscrew
2X
8-Hole Beam
90-Degree Cross Block
Connector
89
Step 1A
Step 1B
90
Step 2
For this step you will need:
Quantity
2
2
Part
Thumbscrew
90-Degree Cross Block Connector
90-Degree Cross Block
Connector
Thumbscrew
91
Step 2A
Step 2B
92
Step 3
For this step you will need:
Quantity
1
2
Part
15-Hole Beam
Thumbscrew
Thumbscrew
15-Hole Beam
93
Step 3A
Step 3B
94
95
Builder’s Guide
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