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Hardware
Refers to the hardware being used in the machine itself.
BatteryBox, Motor, Sensors, Axis, Phase-Requirements, Featured Components & Costs
MotorsThree motors are being used to control the machine, plus a DC motor to control the drill attached on the Z axis
Linear ActuatorDuring 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. External Power SupplyThe 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.
DrillControlling the drill via TWI (I2C)The drill can be controlled via Two-Wire Interfaces (TWI). Here, the I2C Interface is used. leJOS has a class under the name I2CSensor.java which is capable of handling I2C-bus devices. Pull-up Resistors10kΩ are used Control over Relay (NOT RECOMMENDED)Schematic
As shown above, the drill is controlled via a SPST Relay. It uses the following NXT Pins
which make it able to interact with the SensorPort Class and classes developed for its implementation. | ||||||||||||||||||||||||||||||||||||