Robot Stuff
Robot Stuff
Last Updated April 19/05

Robot 1

Robot 2
Construction of Q1C1 the robot
Construction Photos
Robot Drive Motors
Robot Head Motor
Pic Chip Stepper Circuit
Pic Chip Sensor Circuits
Pic Chip Speech Circuit
486 PC "Brain"
Vision System
Power Supply Design
Software
Head Test Program
Test Program

Follow the construction of Q1C1 here ! As Q1C1 is built new photos and descriptions of work will be added to this page.
Q1C1
Q1C1 Body Framework

Q1C1 with Head
Q1C1 With Head Installed

The drive motors are surplus 24 Vdc motors from old Digital Equipment printers. The motor nameplate data is given below.The motor is manufactured by Hitachi Ltd.
PERMANENT MAGNET MOTOR
  TORQUE 30 OZ - IN     OUTPUT 33 W  
 VOLTS 24 VDC   TYPE TO-M-E
 AMPS 2.2   RATING CONT. 
 RPM 1580   INS. CL. B 
 DEC P/N 1214659-00     
 CODE 50427   MFG. NO. K956102 

24 Vdc Motors
24 Vdc Motors

24 Vdc Motor Test Stand
24 Vdc Motor Test Stand

The above picture shows the motor test stand. This was used to test out the speed control circuit and software. The drive motors are powered by two 12 VDC sealed rechargeable lead acid batteries. These batteries are manufactured by YUASA Inc.

MOTOR BATTERIES
YUASA
 Sealed Rechargeable Lead Acid Battery 
NP7-12 12 V 7.0 Ah

The drive motors are geared down by a factor of xxx. Belts are used rather than a chain drive. This allows one to be a bit sloppy in the gearing arrangement !



The head drive motor is a surplus 24 Vdc stepper motor from an old fax machine. The motor was mounted as shown in the photos below.
Head Drive Motor Side View

Head Drive Motor Top View

Head Drive Motor Bottom View

Head Drive Motor Test Circuit

The above picture shows the head stepper motor test circuit. This was used to test out the head stepper motor software. The motor was connected to LPT1 of the 486 PC using a ULN2004A driver IC.

A driver circuit for the Head stepper motor was made using a PIC chip. ( 16F84 )The schematic and a simple test program are shown below.



To see a simple 16F84 PIC program to test out the Head Stepper motor click on the button below. This program is written using MicroChip's MASM.



Local Download ( zip file with source code and hex file )

Q1C1.ASM Version 1.00 ..........................................q1c1.zip

Here is the same 16F84 PIC program to test out the Head Stepper motor written in JAL.
( jal v0.4-10 06-JAN-1999 (c) Wouter van Ooijen 1999 )



Local Download ( zip file with source code and hex file )

Q1C1HEAD.JAL Version 1.00 ..........................................q1c1head.zip

Sensor circuits using PIC chips which send information to the 486 PC for processing.



Speech circuit using PIC 16F84 chip.



To see a simple 16F84 PIC program to test out the Speech circuit click on the button below. This program is written using MicroChip's MASM.



Local Download ( zip file with source code and hex file )

SPEECH.ASM Version 1.00 ..........................................speech.zip

A 486 computer is used as the main processor. The 486 is a recycled computer, which has been stripped down to the bare minimum. The following is some of the information reported by Microsoft Diagnostics. ( MSD ) 
    ------------------------ Summary Information --------------------------

                         Computer: American Megatrend, 80386
                           Memory: 640K, 1024K Ext
                            Video: Hercules or Compat
                          Network: No Network
                       OS Version: MS-DOS Version 6.20
                            Mouse: Not Detected
                   Other Adapters: Game Adapter
                      Disk Drives: A: C:
                        LPT Ports: 2
                        COM Ports: 3

    ------------------------------ Computer -------------------------------

                        Computer Name: American Megatrends
                    BIOS Manufacturer: American Megatrends
                         BIOS Version:
                        BIOS Category: IBM PC/AT
                        BIOS ID Bytes: FC 01 00
                            BIOS Date: 07/07/91
                            Processor: 80386
                     Math Coprocessor: None
                             Keyboard: Enhanced
                             Bus Type: ISA/AT/Classic Bus
                       DMA Controller: Yes
                        Cascaded IRQ2: Yes
                    BIOS Data Segment: None

    --------------------------- Other Adapters ----------------------------

                             Game Adapter: Detected
                           Joystick A - X: 0
                                        Y: 0
                                 Button 1: On
                                 Button 2: On
                           Joystick B - X: 0
                                        Y: 0
                                 Button 1: On
                                 Button 2: On

    ---------------------------- Disk Drives ------------------------------

      Drive  Type                                  Free Space  Total Size
      -----  ------------------------------------  ----------  ----------
        A:   Floppy Drive, 3.5" 1.44M
               80 Cylinders, 2 Heads
               512 Bytes/Sector, 18 Sectors/Track
        C:   Fixed Disk, CMOS Type 47                     71M         81M
               983 Cylinders, 10 Heads
               512 Bytes/Sector, 17 Sectors/Track
      LASTDRIVE=E:

    ----------------------------- LPT Ports -------------------------------

                  Port     On     Paper    I/O    Time
         Port   Address   Line     Out    Error    Out    Busy     ACK
         -----  -------   ----    -----   -----   ----    ----     ---
         LPT1:   0378H     Yes     Yes     No      No      Yes     No
         LPT2:   0278H     Yes     Yes     No      No      Yes     No
         LPT3:     -        -       -       -       -       -       -

    ----------------------------- COM Ports -------------------------------

                                  COM1:      COM2:      COM3:      COM4:
                                  -----      -----      -----      -----
       Port Address               03F8H      02F8H      03E8H        N/A
       Baud Rate                   2400       2400       2400
       Parity                      None       None       None
       Data Bits                      8          8          8
       Stop Bits                      1          1          1
       Carrier Detect (CD)          Yes        Yes         No
       Ring Indicator (RI)          Yes        Yes         No
       Data Set Ready (DSR)         Yes        Yes         No
       Clear To Send (CTS)          Yes        Yes         No
       UART Chip Used           16550AF    16550AF    16550AF
Here are a few pictures of the 486 PC.

486 PC Side View

486 PC Side View

486 PC Side View




Vision System







Power Supply Design







Software







To see a simple program to test out the various parts of Q1C1 click on the button below. This program is written in Borland Turbo Pascal Version 7.0 and runs on the 486 PC.

NOTE: This program is obviously a work in progress and not all menu items are functional.


Here is a picture of the programs main screen.



Local Download ( zip file with source code and .exe )

Q1C1Test.exe Version 1.00 ..........................................q1c1test.zip


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