Hardware
Refers to the hardware being used in the machine itself.
Updated Sep 8, 2013 by mrmarios97
| Component | Price |
|---|---|
| LEGO Mindstorms NXT v2 Retail Kit | 300 EUR |
| LEGO Extra components (9695) | 90 EUR |
| LEGO Racks (x7) | 15 EUR |
| Spare LEGO Parts | Undefined |
| TOTAL | 405 EUR |
Three motors are being used to control the machine, plus a DC motor to control the drill attached on the Z axis
| Motor | Axis |
|---|---|
| A | x |
| B | y |
| C | z |
| DC | Drill |
During construction the need for linear actuation arose, especially when moving the Z-axis vertically. A DIY Linear Actuator was built and the concept behind it was pretty simple.
In detail; a simple 8-tooth Gear was put between a Worm and a Linear (rack) Gear to establish linear movement along the Z-axis.
The NXT Brick was modified in order to be supplied by an AC/DC adapter. The steps of the modification are shown below: https://plus.google.com/photos/114793832022163550064/albums/5762426204029005921
Remove the 6 batteries and uncover the NXT. On its cover, cut the latch at the centre of its narrow side.
- Supply with an AC/DC which provides with power intensity higher than 1A. Set voltage to 9V.
- Purchase a female connector, screw terminal and wires. Find the polarity of the adapter and connect the components.
- Glue (if possible) the female connector in the side of NXT, as shown
- Connect the wires at NXT's terminals [+ (V), - (GND)] and re-cover the NXT.
The drill can be controlled via Two-Wire Interfaces (TWI). Here, the I2C Interface is used. leJOS has a class under the name I2CSensor.javawhich is capable of handling I2C-bus devices.
10kΩ are used
As shown above, the drill is controlled via a SPST Relay. It uses the following NXT Pins
| Pinout (OUTPUT Port) | |||
|---|---|---|---|
| # | Name | Function | Description |
| 1 | 9V | Analog interface | +9V Supply |
| 2 | GND | Ground | Negative Pinout (Ground) |
which make it able to interact with the SensorPort Class and classes developed for its implementation.