Robotc VEX SWERVEBOT Instruction Manual

Swervebot 1.1 • 1
© 2011 Carnegie Mellon Robotics Academy / For use with VEX
®
Robotics Systems
ROBOTC
SWERVEBOT BUILDING INSTRUCTIONS
SWERVEBOT BUILDING
INSTRUCTIONS
USING THE
VEX CORTEX

Swervebot 1.1 • 2
© 2011 Carnegie Mellon Robotics Academy / For use with VEX
®
Robotics Systems
ROBOTC
SWERVEBOT BUILDING INSTRUCTIONS
1Collect parts and tools from the lists below:
Materials Quantity
Screw, 8-32 x 1/4” Long 13
Screw, 8-32 x 1/2” Long 5
Screw, 8-32 x 3/8” Long 21
Screw, 8-32 x 3/4” Long 2
Motor Screw, Short [1/4”] 4
Nut, 8-32 Keps 25
Shaft, 3” long 2
Shaft, 2” long 2
Shaft Collar 8
Shaft Spacer Thin (4.6mm) 9
Shaft Spacer Thick (8mm) 1
Bearing, Flat 7
Bearing Pop Rivets 6
Standoff, 2” Long 2
Standoff, 1” Long 2
Standoff, .5” Long 6
Gear, 36 tooth 1
Chassis Rail, 16 hole 2
Chassis Bumper, 15 hole 2
Plate, 5 x 15 hole 1
Small Low Friction VEX Wheel 2
Small Omni Wheel* 1
VEX Cortex Microcontroller* 1
LCD Display* 1
VEX 2-Wire Motor 269 2
Motor Controller 29 2
Optical Shaft Encoder* 2
Ultrasonic Rangender* 1
Potentiometer* 1
Bumper Sensor* 2
Line Tracking Sensor* 3
Yaw Rate Gyro* 1
9V Battery* 1
Backup Battery Holder* 1
3-Wire Extension Cable* 1
Serial Y-Cable* 1
Tools Quantity
Zip Tie, 4” Long 4
Rubber Bands 2
Allen Wrench 3/32” 1
Allen Wrench 5/64” 1
Open End Wrench 1/4” 1
Pliers* 1
Hacksaw* 1
* Not included in Protobot Robot Kit

Swervebot 1.1 • 3
© 2011 Carnegie Mellon Robotics Academy / For use with VEX
®
Robotics Systems
ROBOTC
SWERVEBOT BUILDING INSTRUCTIONS
Modications
2
x1
A
B
CAUTION - Bending VEX Metal
The following step involves permanent alterations to the materials in the VEX Kit. Make sure you have permission
before continuing.
ALL APPLICABLE SAFETY PROCEDURES MUST BE OBSERVED WHILE PERFORMING THIS STEP. IF YOU ARE
UNSURE ABOUT HOW TO USE THE TOOLS OR PERFORM THIS PROCEDURE SAFELY, DO NOT ATTEMPT THIS
STEP ALONE. SEEK QUALIFIED ASSISTANCE BEFORE PROCEEDING.

Swervebot 1.1 • 4
© 2011 Carnegie Mellon Robotics Academy / For use with VEX
®
Robotics Systems
ROBOTC
SWERVEBOT BUILDING INSTRUCTIONS
Modications (continued)
2
x2
A
B
CAUTION - Cutting Tools
The following step involves cutting tools and permanent alterations to the materials in the VEX Kit. Make sure you
have permission before continuing.
ALL APPLICABLE SAFETY PROCEDURES MUST BE OBSERVED WHILE PERFORMING THIS STEP. IF YOU ARE
UNSURE ABOUT HOW TO USE THE TOOLS OR PERFORM THIS PROCEDURE SAFELY, DO NOT ATTEMPT THIS
STEP ALONE. SEEK QUALIFIED ASSISTANCE BEFORE PROCEEDING.
Perform this step 2x

Swervebot 1.1 • 5
© 2011 Carnegie Mellon Robotics Academy / For use with VEX
®
Robotics Systems
ROBOTC
SWERVEBOT BUILDING INSTRUCTIONS
x1
A
B
CAUTION - Cutting Tools
The following step involves cutting tools and permanent alterations to the materials in the VEX Kit. Make sure you
have permission before continuing.
ALL APPLICABLE SAFETY PROCEDURES MUST BE OBSERVED WHILE PERFORMING THIS STEP. IF YOU ARE
UNSURE ABOUT HOW TO USE THE TOOLS OR PERFORM THIS PROCEDURE SAFELY, DO NOT ATTEMPT THIS
STEP ALONE. SEEK QUALIFIED ASSISTANCE BEFORE PROCEEDING.
Modications (continued)
2

Swervebot 1.1 • 6
© 2011 Carnegie Mellon Robotics Academy / For use with VEX
®
Robotics Systems
ROBOTC
SWERVEBOT BUILDING INSTRUCTIONS
A
B
CAUTION - Cutting Tools
The following step involves cutting tools and permanent alterations to the materials in the VEX Kit. Make sure you
have permission before continuing.
ALL APPLICABLE SAFETY PROCEDURES MUST BE OBSERVED WHILE PERFORMING THIS STEP. IF YOU ARE
UNSURE ABOUT HOW TO USE THE TOOLS OR PERFORM THIS PROCEDURE SAFELY, DO NOT ATTEMPT THIS
STEP ALONE. SEEK QUALIFIED ASSISTANCE BEFORE PROCEEDING.
x1
Modications (continued)
2

Swervebot 1.1 • 7
© 2011 Carnegie Mellon Robotics Academy / For use with VEX
®
Robotics Systems
ROBOTC
SWERVEBOT BUILDING INSTRUCTIONS
Base Frame Construction
3
x1 x2x2
1/4” 1/2”
x1

Swervebot 1.1 • 8
© 2011 Carnegie Mellon Robotics Academy / For use with VEX
®
Robotics Systems
ROBOTC
SWERVEBOT BUILDING INSTRUCTIONS
Base Frame Construction (continued)
3
x2
1/4”
1”
x2

Swervebot 1.1 • 9
© 2011 Carnegie Mellon Robotics Academy / For use with VEX
®
Robotics Systems
ROBOTC
SWERVEBOT BUILDING INSTRUCTIONS
4Drivetrain Assembly
x4 x4 x2x2
1/4” 6-32

Swervebot 1.1 • 10
© 2011 Carnegie Mellon Robotics Academy / For use with VEX
®
Robotics Systems
ROBOTC
SWERVEBOT BUILDING INSTRUCTIONS
4Drivetrain Assembly (continued)
Building Tip - Using Shaft Collars
3”
x2x2

Swervebot 1.1 • 11
© 2011 Carnegie Mellon Robotics Academy / For use with VEX
®
Robotics Systems
ROBOTC
SWERVEBOT BUILDING INSTRUCTIONS
4Drivetrain Assembly (continued)
x4x2

Swervebot 1.1 • 12
© 2011 Carnegie Mellon Robotics Academy / For use with VEX
®
Robotics Systems
ROBOTC
SWERVEBOT BUILDING INSTRUCTIONS
4Drivetrain Assembly (continued)
x1
x2 x2x1
3/8”

Swervebot 1.1 • 13
© 2011 Carnegie Mellon Robotics Academy / For use with VEX
®
Robotics Systems
ROBOTC
SWERVEBOT BUILDING INSTRUCTIONS
4Drivetrain Assembly (continued)
x1 x1
3/8”

Swervebot 1.1 • 14
© 2011 Carnegie Mellon Robotics Academy / For use with VEX
®
Robotics Systems
ROBOTC
SWERVEBOT BUILDING INSTRUCTIONS
4Drivetrain Assembly (continued)
x2 x2x1
3/8”
x1

Swervebot 1.1 • 15
© 2011 Carnegie Mellon Robotics Academy / For use with VEX
®
Robotics Systems
ROBOTC
SWERVEBOT BUILDING INSTRUCTIONS
4Drivetrain Assembly (continued)
x1 x1
3/8”

Swervebot 1.1 • 16
© 2011 Carnegie Mellon Robotics Academy / For use with VEX
®
Robotics Systems
ROBOTC
SWERVEBOT BUILDING INSTRUCTIONS
Attaching the Bump Switches
x4x2
3/8”
5
x4

Swervebot 1.1 • 17
© 2011 Carnegie Mellon Robotics Academy / For use with VEX
®
Robotics Systems
ROBOTC
SWERVEBOT BUILDING INSTRUCTIONS
Omni-Wheel & Rear Bumper Construction
2
Building Tip - Using Pop Rivets
x2
6
x1x1

Swervebot 1.1 • 18
© 2011 Carnegie Mellon Robotics Academy / For use with VEX
®
Robotics Systems
ROBOTC
SWERVEBOT BUILDING INSTRUCTIONS
1Omni-Wheel & Rear Bumper Construction (continued) 6
x2 x1
Alternate view on next page
2”
x1 x1

Swervebot 1.1 • 19
© 2011 Carnegie Mellon Robotics Academy / For use with VEX
®
Robotics Systems
ROBOTC
SWERVEBOT BUILDING INSTRUCTIONS
Omni-Wheel & Rear Bumper Construction (continued)
6

Swervebot 1.1 • 20
© 2011 Carnegie Mellon Robotics Academy / For use with VEX
®
Robotics Systems
ROBOTC
SWERVEBOT BUILDING INSTRUCTIONS
Attaching Omni-Wheel & Rear Bumper
x2
1/4”
7
x2
1/2”