710-00024_技术文档

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Eddie Robot Platform

(Assembled: #28990; Unassembled: #28992)

Eddie is a turnkey hardware solution to create a mobile robot with

your own laptop and Kinect camera — a perfect platform to foster

creativity, innovation, and experimentation.

Once fully assembled, simply connect your own laptop and Kinect

camera (not included) over USB and Eddie is up roaming the house in

minutes. Compatible with Microsoft Robotics Developer Studio 4 (RDS

4), Eddie can navigate autonomously and see in 3D using the power

of the Microsoft Kinect camera.

The Eddie Control Board uses the Propeller^TMmulticore microcontroller

to directly control two high-torque 12 V motors and collect data from

multiple sensors mounted on the robot. Eddie is controlled over a

simple USB connection and a convenient command interface.

Key Specifications

Features



Communication Interface: Serial

commands over USB interface

Operating temperature: 32 to 158 °F

(0 to 70 °C)

Dimensions: 21.75” (55.25 cm) high

17.8” (45.2 cm) diameter, assembled



Compatible with Microsoft Robotics

Developer Studio 4 (RDS4)



Dual-platform design with plenty of room

for electronics and on-the-go

programming laptop access



Two drive wheels with high-torque

12 VDC motors and position controllers

Weight: 25.3 lbs (11.5 kg), excluding

laptop and Kinect camera

Front and rear dual-tire caster wheels for

platform stability

Application Ideas

Durable pneumatic rubber tires easily

traverse hard floors and carpet



Autonomous navigation and mapping

Development and testing of machine

vision systems

Five distance sensors (three infrared and

two ultrasonic) for collision avoidance



Tele-presence robots

Fully integrated control board handles all

lower-level hardware operations to drive

motors and collect sensor data

Voice-activated personal assistant robots

Security and surveillance robots

Crowd interaction and advertising



Simple USB connectivity between control

board and your laptop

Additional Items Required



Laptop Computer

Kinect Camera

Philips (cross-head) screwdriver

Scissors

5/32” Allen wrench

Microsoft RDS software

12 V, 14.4Ah gel-cell batteries for 4–7

hours of continuous operation

Built-in charging jack (charger included)

Eddie Robot Platform (#28990 & #28992)

v1.2 11/10/2011 Page 1 of 16

Precautions



After switching main board power off, wait at least 5 seconds before switching power back on.

Rapid and repetitive power cycling of the board and motor power supplies causes significant

stress on electronic components and may damage the board and/or connected electronic

accessories.



Use caution when handling the drive motors or Control Board as some components may

become hot after prolonged operation.

As in most electronic devices, Eddie contains components which are sensitive to static

discharge. Exercise proper grounding practices prior to touching or working on the robot.

Assembly Instructions

Note: For pre-assembled Eddie (28992), go to Step 10

Step 1: Pre-assemble the Motor Mount and Wheel Kit and the Caster Wheel Kits, by following the

instructions that came with each of those products. Set them aside for now.

Step 2: After you have completed the assembly of the Motor Mount and Wheel Kit and the Caster Wheel

Kits, carefully unpack the remaining components and sort them into their respective groups. You should

have the following:

Bill of Materials

Part #

Quantity

Description

28994

1

2

1

2

4

1

4

2

1

2

3

1

2

3

2

10

24

6

4

1

Eddie Motor Mount and Wheel Kit w/ Position Controller

Caster Wheel Kit

28971

765-28977

765-28990

700-00235

721-00013

452-00072

800-28990

713-00049

713-00050

721-00014

765-00003

752-00007

28015

Robot Base

Eddie Second Deck

Eddie Wiring Harness

Kinect Mounting Cam Hook

Eddie Kinect Cable Clip

Eddie Kinect Power Cable

Standoff, 5”, ½” Diameter

Standoff, 12”, ½” Diameter

Eddie Laptop Screen Clamp

Eddie Battery Shelf

Battery, 12 V, 7.2 Ah, SLA

Ping)))^TMUltrasonic Distance Sensor

Sharp 2Y0A21YK0F Distance Sensor

Eddie Control Board

28995

550-28990

805-00002

805-28995

725-28995

725-32008

710-00033

710-00035

713-00005

713-00019

713-00015

700-00240

Servo-extension Cable, 14” Length

Sharp IR Sensor to Servo Cable

Sharp IR Stand Acrylic

Ping))) Stand Acrylic

Screw, Cap, SKT, 6-32x1/2”

4-40 x 5/8” black pan head screw

Spacer, nylon, #4, ¼” thick

Spacer, nylon, #4, 1/8” thick

Spacer, nylon, #4, 1/16” thick

Eddie Battery Charger

Eddie Robot Platform (#28990 & #28992)

v1.2 11/10/2011 Page 2 of 16

Part #

Quantity

Description

806-00001

700-00028

700-00083

710-00024

710-00032

710-00034

721-00012

710-00040

710-00100

710-00105

710-00106

712-00008

713-00001

713-00022

725-00021

1” x 10”

Snap Velcro

4

Screw, Pan Head, Zinc, Phillips, 4-40 x 1/4”

4-40 x ½”, F/F Hex Standoff

Screw, Button Head SS, ¼”x20 x ½”

Screw, Cap, SS, #6-32 x 3/8”

Screw, Flat Head, Black ¼-20 x 5/8”

Eddie Kinect Platform

4

6

4

1

4

Screw, Pan Head, Black 4-40 x ½”

Screw, Pan Head, Black 4-40 x 1/4”

Screw, Button Head, ¼-20 x 5/8”

Screw, Button Head, Blk, ¼-20 x ¾”

Washer, ½” dia, .060 Delrin

Standoff, 4-40 x 5/8” F/F Round

Standoff, 4-40 x 1.5” F/F Hex

Ball-End Hex Key 7/64”

2

10

2

6

4

1

Step 3: Ping))) and IR Sensor Module assembly

Figure 3a shows the components for each sensor assembly. You will need a small Phillips screwdriver to

assemble each sensor module.

Figure 3a

Eddie Robot Platform (#28990 & #28992)

v1.2 11/10/2011 Page 3 of 16

Each Ping))) assembly consists of:

Each IR sensor assembly consists of:

(1) IR sensor (#28995)

(1) Ping))) sensor (#28015)

(1) Cable, servo extension (#805-00002)

(2) 4-40 x 5/8” black machine screws (#700-00028)

(2) 1/16” thick nylon spacers (#713-00015)

(2) ¼” thick nylon spacers (#713-00005)

(1) Acrylic Ping))) stand (#725-32008)

(1) IR Sensor to servo cable (#805-28995)

(2) 4-40 x 5/8” blk mach. screws (#710-00035)

(2) 1/8” thick nylon spacers (#713-00013)

(2) ¼” thick nylon spacers (#713-00005)

(1) Acrylic IR Stand (#725-28995)

Refer to Figure 3b, and note the different locations of the spacers on each assembly. In each case, make

sure the label-etched sides of the Stands are on the opposite side from the sensor assemblies.

For the IR module, insert two 5/8” long, black machine screws through the mounting holes from the

backside of the module. Place (1) of the 1/8” long spacers and (1) of the ¼” long spacers on each of the

machine screws (as shown in Figure 3b). Carefully align this assembly onto the backside of the acrylic IR

stand, and gently tighten each of the machine screws until they’re snug. Nuts are not required. The

machine screws will cut their own threads as you screw them into the acrylic. Do not over tighten.

Assemble the Ping))) module by sliding a 1/16” thick nylon spacer onto each of the two 5/8” long, black

machine screws. Insert these screws (with the 1/16” washers) through the Ping))) sensor’s PCB

mounting holes. Place two ¼” long spacers onto the screws, and align the screws to the self-tapping

mounting holes on the acrylic stand. The screws will cut their own threads. Screw them all the way in,

but do not over-tighten.

Figure 3b

You should now have assemblies that look like those shown in Figure 3c. Repeat these steps for the

remaining Ping))) sensor and IR sensor assemblies.

Eddie Robot Platform (#28990 & #28992)

v1.2 11/10/2011 Page 4 of 16

Figure 3c

Connect the appropriate cables to each of the sensors. Be sure to observe proper polarity on the Ping)))

sensor cables, as shown in Figure 3c. The IR cables are polarized. Line up the tab on the cable, and

insert it into the receptacle. Be sure to fully insert them – they should “click” into place.

Set these assemblies aside for now.

Step 4: Battery Shelf Preparation

As shown in Figure 4a, the Battery Shelf components consist of a Delrin shelf, (6) 1/2” tall, round

aluminum standoffs, and (6) 4-40 x 5/8” screws.

Figure 4a

Eddie Robot Platform (#28990 & #28992)

v1.2 11/10/2011 Page 5 of 16

The physical sizes of SLA batteries differ depending on brand and capacity. Figure 4b shows typical

locations for standoff placements, for the batteries that come with the Eddie platform. Mount the

standoffs in hole locations that provide the tightest fit for the batteries that you’re using.

Place the Delrin shelf so that the Parallax Logo is face down, and attach the standoffs as depicted in

Figure 4b.

Figure 4b

Set the Battery Shelf Assembly aside for now.

Step 5: Main Base Assembly

Place the two pre-assembled Casters and Motor Mounts a shown in Figure 5a. Orient the Base Plate

“face up” so that the two sets of three holes (in a triangular pattern) are visible, as shown in Figure 5a.

These are “blind” holes (they do not go all the way through). The Caster assemblies are attached from

the bottom of the Base with short screws that do not mar the finish of the top-side.

Figure 5a

Eddie Robot Platform (#28990 & #28992)

v1.2 11/10/2011 Page 6 of 16

Use the 7/64” ball-end, Allen wrench to screw in the (3) 3/8” long socket-head cap screws to attach each

of the Caster Wheel assemblies to the Base, as shown in Figure 5b. Make them snug, but do not over

tighten.

Before you mount the drive wheels to the Base, verify that the ID jumpers (A and B) on the Position

Controller for the left motor are set to “1” (both jumpers installed) and that the ID jumpers on the right

Position Controller are set to “2” (A installed, B removed). (See Motor Mount and Wheel Kit for additional

information).

Figure 5b

Flip the Base over (as shown in Figure 5c), and attach each pre-assembled drive motor unit to the Base

using (2) ¼ x 20 button head screws for each motor, as shown. Tighten using a 5/32” Allen wrench.

Connect the long, three-pin servo extension cable to the left Position Controller on the header marked

“To Controller”. Connect the other end of the cable to the same header on the right Position Controller.

It is recommended that the cable is routed across the top side of the robot platform. This configuration

allows both Position Controllers to be connected to the Control Board on the same bus.

Figure 5c

Eddie Robot Platform (#28990 & #28992)

v1.2 11/10/2011 Page 7 of 16

Step 6: Control Standoff Assembly

Insert (8) 4-40 x 5/8” black oxide screws from the underside of the Base, and fasten to the two sets of

(4) of standoffs, as shown in Figure 6a. The ½” long standoffs are for the Eddie Control Board, and the

1.5” standoffs are for the Wiring Harness / Switch Plate assembly.

Figure 6a

Place (but do not attach) the Wiring Harness / Switch Plate assembly onto the Base as shown in Figure

6b. Carefully thread the Red and Black wires through the hole that’s between the set of short standoffs.

Double-check to make certain that the Power Switches are both “off” as shown in Figure 6b.

Figure 6b

Eddie Robot Platform (#28990 & #28992)

v1.2 11/10/2011 Page 8 of 16

Step 7: Battery Shelf Installation

Flip the Base over, place the two Sealed Lead Acid batteries on the bottom of the Base, and connect the

Red and Black wires to the corresponding colored terminals, as shown in Figure 7a.

Figure 7a

Refer to Figure 7b. Carefully rotate the batteries, and gently place them between the two drive motor

assemblies. This should be a nice, tight fit. Be careful to not short the terminals of the batteries against

the frames of the motor assemblies. See Figure 7b.

Figure 7b

Eddie Robot Platform (#28990 & #28992)

v1.2 11/10/2011 Page 9 of 16

Place the pre-assembled Battery Shelf over the cells and slide it into alignment so that the the thru holes

line up with the tapped holes in the Motor Bearing Block. Secure the Battery Tray with (4) ¼-20 x ½”

long button head screws, as shown in Figure 7c.

Figure 7c

Step 8: Switch Plate and 5” Upper Deck Supports Installation

Place the assembly on its side, as shown in Figure 8a. Attach (4) ½” diameter by 5” long machined

aluminum standoffs with ¼-20 x 5/8” long button head screws as shown.

Connect the Switch Plate to the (4) 1.5” tall standoffs with (4) #4-40 x ½” long black, phillips head

screws, as shown in Figure 8a as well.

Figure 8a

Eddie Robot Platform (#28990 & #28992)

v1.2 11/10/2011 Page 10 of 16

Attach the Ping))) and IR Sensors to the Base as shown in Figure 8b. Place the #6/32 x ½” socket head

cap screw through the holes in each of the stands and then carefully screw them down evenly into the

Base. Take it slow and easy. Make a few turns on one screw and then a few turns on the other, gently

bringing the assembly down into full contact with the Base. Make them snug, but do not over-tighten.

Figure 8b

Step 9: Eddie Control Board Installation

Orient the Control Board as shown in Figure 9, and use (4) 4-40 x 1/4 “ machine screws to attach it to

the (4) hex standoffs in the center of the platform.

Be certain that the switches are in their “Off” positions (the switches light up when they’re “ON”).

Connect each of the motor drive connectors to their respective receptacles on the Control Board.

Connect the Main Power connector (coming from the Switch Plate) to the large power connector on the

Control Board.

Figure 9

Eddie Robot Platform (#28990 & #28992)

v1.2 11/10/2011 Page 11 of 16

Viewing Eddie from the front, (as in Figure 9a), connect the left-most IR Sensor cable to “AD1”, the

center IR sensor to “AD2”, and the right-most IR Sensor to “AD3”. Connect the left-most Ping))) to I/0

“1” and the right-most Ping))) to I/O “2” on the Eddie Control Board. Be sure to observe proper polarity

– the black wires (ground) should be attached to the outer-most pins of the 3-pin headers.

Connect the three-pin cable from the right Position Controller to Pin-set 11 in the “Encoders” section of

the Control Board. The black wire should be on the outer-most pin of the three-pin header.

Locate the power enable switch on the Control Board near the USB connector. Slide the “Motors – Board

– Off” switch to the “Motors” position (all the way closest to the USB connector). This switch will leave

board power and motor power enabled since they are switched externally using the high-current red and

blue power switches.

Step 10: Second Deck Installation

The Second Deck’s “top” side is indicated by the (4) counter-sunk holes that line up with the (4) 5” long

aluminum standoffs. The “counter sink” is the top.

Attach the two 12” long standoffs to the Second Deck by inserting (2) ¼ - 20 x 5/8” button head screws

from the bottom side of the Second Deck.

Place the Second Deck onto the 5” standoffs as shown in Figure 10, and fasten with (4) ¼ -20 Flat head

Black Screws.

Figure 10

Eddie Robot Platform (#28990 & #28992)

v1.2 11/10/2011 Page 12 of 16

Step 11: Kinect Plate Assembly

The Kinect is attached to Eddie in a non-destructive manner. That is, there are no modifications

necessary to the Kinect unit itself.

The bottom of the Kinect unit has two rectangular holes as shown in Figure 11a. Note the orientation of

the “Kinect Cam Hooks” below the device.

Figure 11a

Place a Cam Hook into one of the rectangular slots as shown in Figure 11b.

Figure 11b

Eddie Robot Platform (#28990 & #28992)

v1.2 11/10/2011 Page 13 of 16

Rotate or “cam” the hook into the slot as shown in Figure 11c. Do the same with the remaining cam

hook in the other slot.

Figure 11c

The assembly should now look like the one shown in Figure 11d.

Figure 11d

Place the Mounting Plate onto the bottom of the Kinect, such that the Cam Hooks go into the rectangular

holes. The Cam Hooks will not come all the way through – they’ll be just below the surface of the acrylic.

Now, place washers onto the 4-40 x ¼” long, black, pan head phillips screws and screw them into the

tapped holes in the bottom of the Kinect Cam Hooks, as shown in Figure 11e.

Figure 11e

Eddie Robot Platform (#28990 & #28992)

v1.2 11/10/2011 Page 14 of 16

Step 12: Kinect Mounting and Cable Connections

Slide the rectangular Screen Clip down onto one of the 12” long standoffs as shown in Figure 12a.

Using two ¼-20 x ¾” black button head screws attach the Kinect Plate assembly to the top of the two

12” long aluminum standoffs.

Route the Kinect cable alongside the remaining 12” standoff, attach it with the (4) cable clips, and pass

the cable down through the large thru-hole in the Top Plate.

Attach the Kinect Cable to the Kinect Cable Adapter, and then plug the two-pin power jack (on the Kinect

Cable Adapter into the Kinect Power plug on the Eddie Control Board.

Connect a USB mini-B cable to the USB connector on the Control Board, and route it up through the cable

hole on the Top Plate.

Figure 12a

Figure 12b

A strip of self-adhesive Velcro-like material is included if you wish to mount your laptop computer onto

Eddie’s Second Deck.

Although you can attach your laptop anyway you choose, a convenient way to do so is to cut the strip

into (8) 1” square pieces, and then “snap” them together into (4) sets, as shown in Figure 12a. Peel off

one side of the adhesive (on each of the four sets) and stick them to the underside of your laptop. Then

remove the protective film from the four sets and carefully place your laptop onto the upper deck.

If properly applied, you should be able to remove your laptop and re-attach it as required.

Your Robot should now resemble that shown in Figure 12b.

Using the (5) zip-ties, bundle excess lengths of wire so that all conductor routing is clean and organized.

This completes Eddie’s hardware assembly – Congratulations!

Eddie Robot Platform (#28990 & #28992)

v1.2 11/10/2011 Page 15 of 16

Additional Specifications

Parameter

Value

17.8” (45.1 cm) diameter circle

21.75” (xx cm)

Robot Footprint

Height (without Kinect)

Height (with Kinect)

Overall Weight

24.50” (65.4 cm)

27.5 lbs (11.5 kg)

50 lbs (22.7 kg)

Maximum Cargo Capacity⁽¹⁾

Run Time⁽²⁾

4 to 7 hours

Ground Clearance⁽³⁾

0.88” (2.23 cm)

Wheel Center-to-center Distance

15.4” (39.0cm)

Operating Temperature⁽⁴⁾

32 to 158 F (0 to 70 C)

Notes:

1. Maximum cargo capacity is the suggested maximum cargo weight for typical operation. The robot may be able to carry

additional weight, but this is not guaranteed and may result in diminished performance, or mechanical failure.

2. Run time is approximate and depends on many factors.

3. Ground clearance is limited by the screws to mount the battery support tray. Minimum ground clearance is directly

between the two main drive wheels. Clearance in other areas is greater.

4. Eddie is designed to be operated indoors.

Additional Resources and Downloads

Visit www.parallax.com/eddie for additional information and the latest product documentation and

downloads, including:



Eddie product documentation – this document.

Eddie Control Board product documentation – provides details and specifications about the

control board hardware.

Revision History

Version 1.2

BOM updated.

Eddie Robot Platform (#28990 & #28992)

v1.2 11/10/2011 Page 16 of 16


型号：	710-00024
厂家：	ETC
描述：	Eddie Robot Platform 埃迪机器人平台
文件：	总16页 (文件大小：819K)
中文：	中文翻译
下载：	下载PDF数据表文档文件

710-00024 [ETC]

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