Step-by-step instructions for building a Palm Pilot Robot

[ Note: If you are using a kit provided by Acroname, Inc., please refer to a set of instructions at Acroname's PPRK Assembly page. ]

  1. Obtain a set of required parts.

  2. Glue a white servo connector horn to each of the three omni-wheels hubs using a cyanoacrylate "super" glue or similar adhesive. Make sure the servo horn is well centered on the wheel hub.

  3. Connect each omni-wheel to a servo. Using a narrow Phillips screwdriver that fits inside the omni-wheel hub, tighten the screw that holds the plastic servo horn to the servo shaft.

  4. Apply a rectangle of double-sided foam tape to the top of each of the three servos. This will attach each to the base plate; be sure to observe the orientation as illustrated.

  5. Attach the servomotors to the base using the double-sided sticky tape, placed at 120 degree angles with respect to each other. The axis of each motor and wheel should be aligned with the center of the disc, the three axes equally spaced around the perimeter, and each motor aligned with the edge of round base plate.

  6. Use double-sided foam tape attach the battery to the base. Note: if you have a battery that is too big or just does not fit under the robot, you can instead attach it on the top of the robot.

  7. Attach the IR sensors to the base using foam tape, located between adjacent servos. Place them approximately 1/2...1" from the edge of the disc in front of them.

  8. Three wires and a connector are provided for each sensor. Usually the provided wires are black (ground), red (power) and yellow (output signal). Refer to IR sensors' manual and connect wires to the sensors using small connectors.
  9. Connect the wires from the servomotors, sensors, and battery to the Pontech Serial Servo Controller board (SV203) as described in the following diagrams. It may also be helpful to refer to the diagrams found in the SSC and IR handbooks. Number the servos clockwise (it is helpful to label them with pen or tape) and connect the wires to the SV203 board in the same order. Number all the IR sensors such that the number of the sensor is the same as the number of the opposite servo (across the base). All servos must have the Futaba style connectors: ground (black or brown), power (red), input signal (white or orange).

  10. In the next several steps the Palm is connected to the SV203 using the Palm's HotSync connector, the HotSync Cable, and the DB9 connector on the SV203. For the first step, cut the Palm's HotSync cable approximately 8 inches from the connector that attaches to the Palm itself. Solder the exposed HotSync cable wires to a male DB9 connector as follows, using short lengths of heatshrink tubing to insulate the pins as illustrated:
    Red wire - pin 5
    Black wire - pin 3
    Brown wire - pin 2

  11. Attach the HotSync Cable's Palm connector to the second disc (which will used for the upper body plate) using double sided tape. The connector should be placed near the edge.

  12. Plug the DB9 connector into the SV203 board.

  13. At this point, all electrical connections are complete. Test the robot by running a sample program. If any problems occur, check everything and ensure that all wires are securely connected.
  14. Once the robot works, apply rectangles of double-sided tape to the top of each servo. Take the second disc (with attached connector on top of it) and press it against the three sevos.
  15. This is the final step in building the Palm Pilot Robot:
    Mount the Palm Pilot on top of the robot by plugging it into the HotSync Cable's connector. The connector will securily hold Palm Pilot in place.

Last updated: October 06, 2000 22:25