workbook4.pdf

Component List

CPU Board x 1

DC Motor Drive Board x 2

Infra Sensor Board x 3

Contact Sensor Board x 4

Remote control sending Board x

Sound Sensor Board x 1

Voice Board x 1

Interface Board x1

1 Remote control Receiving Board x1

LED Board x 4

DC Motor(100rpm) Motor(100rpm) x 4

Buzzer Board x 1

DC Motor(600rpm) x 2

Servo Motor x 3

Motor Guide x 4

Caterpillar Wheel Guide x 4 Caterpillar Wheel x 3

Wheel x 8

Caterpillar x 120

Wheel Guide x 5

Regulable Nut x 6 200mm axle x 2,

Battery Case x 4

140mm axle x 2 75mm axle x 1

Main(PCB) x 3

ㄷ-type

Frame x 1

Main(Plastic) x 2

5mm x 6, 7mm x 17

Middle Frame(PCB) x 8

10mm x 12, 15mm x 10

Middle Frame x 5

20mm x 14, 25mm x 12

Small 8 x 6, Small 5 x 6,

30mm x 12, 35mm x 10

Small 4 x 6, Small 3 x 6,

40mm x 10

Option Frame x 6

2.6x10 Bolt x 8 3x6 Bolt x Bolt x 250 3x10 Bolt x Bolt x 27 Nut x 250 Nylon Nut x 22 Cap Nut x 6

Motor Frame x 20

L-type 2x1 Frame x 10

3Pin Cable x 18


3Pin Header Cable x 4


RS232 Cable x 1

Golf Ball x 1

Motor Frame x 20


3Pin Cable x 18


3Pin Header Cable x 4


RS232 Cable x 1

Golf Ball x 1

Safety Precaution 1. Do not put the parts in your mouth. 2. Do not operate or bend/ remove the parts forcibly. 3. Do not put your hand of moving parts. 4. Do not throw or swing components or products to people. 5. Be careful when touching sharp edge of the parts. 6. Keep away from flammable or corrosive solvents (including water)* and gases. 7. If the chemical from a battery gets into your eyes, mouth, or on your skin, follow the instructions below.

- If the chemical gets into your eyes: Flush them thoroughly with clean water, and then see a doctor immediately. - If the chemical gets into your mouth: If swallowed, do not induce vomiting. See a doctor immediately. : If the chemical just gets into your mouth, wash out your mouth with water thoroughly. - If the chemical gets on your skin: Wash the area thoroughly with soap and water. 8. Please assemble and operate with a guardian or a teacher. 9. Our kit includes small parts so children under three years of age are not admitted to use.

Intelligent Robot School 4 Author : Jungmi Jungmi Park, Gooyong Gooyong Um, Youngsuk Youngsuk Choi Translation : Minjeong Yoo First Edition : July 28, 2003 Pub. Date : January 14, 2010 Publisher : RoboRobo Co., LTD. Copyright ⓒ Roborobo Co., LTD. All rights reserved. ※Printed

in the Republic of Korea. This publication is protected by copyright, and permission must be obtained from the

publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical, photocopying, recording, or likewise. For information regarding permissions, write to: RoboRobo Co., LTD. 5F RoboRobo building, 197-16, Mia-Dong Gangbuk-Gu. Seoul 142-100 South Korea Tel : 82-2-909-5050 Fax : 82-2-917-3511

Table of Contents

1. SupergrabBot

1

Interface Interf ace Board

2

How to Assemble

4

Completed Supergrab Bot!

10

Try to Decorate!

11

Set the Servo Motor

12

Shall we make it move?

14

Let’s Play Game!

16

What did you learn?

18

2. SupertankBot SupertankBot

19

Elasticity Elasticity and Plasticity

20

How to Assemble

22

Completed Supertank Bot!

28

Try to Decorate!

29

Controlling Control ling step by step with Remote Control

30

Set the Servo Motor

31


34

Let’s Play Game!

36

What did you learn?

38

3. BowlingBot

39

Origin of Bowling Bowling

40

How to Assemble

42

Completed Bowling Bot!

48

Try to Decorate!

49

Set the Servo Motor

50


52

Let’s Play Game!

54

What did you learn?

56

4. BullBot

57

Bull Fight

58

How to Assemble

58

Completed Bull Bot!

66

Try to Decorate!

67

Set the Servo Motor

68


70

Let’s Play Game!

72

What did you learn?

74

5. TrailerBot

75

Driving System of Vehicle

76

How to Assemble

78

Completed Trailer Bot!

88

Try to Decorate!

89

Set the Servo Motor

90


92

Let’s Play Game!

94

What did you learn?

96

6. FutureBot

97

Household Robot

98

What did you learn?

100

Today’s Goal

SupergrabBot is

a robot that moves the objects by using

structure which is assembled to the Servo Motor as a human hand. Let us find out the principle and usage of the Interface Board that makes power of the robot more stronger and play survival game that who moves all of the objects to the enemy’s enemy’s camp at the fastest time! -super : Very large, great, or extreme -survival : The act or process of surviving. / The fact of having survived. / Something, such as an ancient custom or belief, that has survived. -interface : connection, link, boundary, border, frontier

Robots in Life • • • Interface Board • • •

Generally, ‘Interface’ means a connecting the device or system to connect separated things. For example, a remote control is an interface between a human and a television, and language is the interface between humans. Also a keyboard becomes the interface between the human and a computer. The Interface Board we use is also a device to connect a signal between the CPU Board, the DC Motor and the Servo Motor. Now, look at the picture of the Interface Board above, shall we check how the signal is connected? If you look at the DC Motor on the Interface Board, a signal cable from the CPU Board is connected as divided into two, from 1~4 and 5~8 of Motor Drive. This means that the Interface Board divides the signal into 2kinds which from CPU Board and then send to Motor Drive. For example, you only have to use 4 OUT Ports of CPU Board to move 4 DC Motors. You can use DC Motor to 8 if using Interface Board that divides signals.

Have you ever used more than 2 Servo Motor in a class? You might have a case that robot mistakenly activated when power consumption is big or power of Servo Motor became weak. The reason of it is mostly provided power is not enough. But if you use Interface Board on this case, you can easily solve the problem. That is because the Interface Board uses separate battery which is separated from CPU Board. The 2 connectors in Interface Board are set up to make possible to use 8 batteries. This makes to power of motor more stronger and makes to use longer because it provides power to DC Motor and Servo Motor separately. Now, makes a robot which more stronger and consistent one, by using the Interface Board !

How to Assemble

1. Assemble the Battery Case, Motor Frames and the L-type 2x2 Frames to the Main Frame using bolts, nuts and 35mm Supports.

2. Assemble as referring to the picture taken from different angle. A) Leave it empty as not fixing bolt.

3. Assemble the Servo Motor and DC Motor to the Motor Frame that is fixed to the Main Frame then insert Wheels.

4. Assemble as referring to the picture taken from different angle.

5. Fix the Battery Case to Support with 35mm Support and assemble link structure to the Servo Motor and L-type Frame.

6. Assemble as referring to the picture taken from different angle. A) Put the Motor Frame outside of the L-type Frame and fix bolt to make it spin.

7. Fix the Servo Motors to Small 8 Frames then make grab structure and insert to the Servo Motor axle.


9. Fix the CPU Board and DC Motor Drive Boards to Support then fix to the Remote Control Receiving Board and Interface Board.


11. Connect the Power Cable of Battery Case to the Power Connectors of CPU Board and Interface Board. Connect the DC Motor Cable to DC Motor Drive Board.

12. Connect the 3Pin Cable to the OUT Port 1, 2, 3, 4 of CPU Board and Interface Board (DC CPU) 1, 2, 3, 4. Connect the 3Pin Cable to the 1, 2, 3, 4 of Interface Board (DRIVER) and DC Motor Drive Board 1, 2, 3, 4.

13. Connect the 3Pin Cable to the OUT Port 5, 6, 7 of CPU Board and 5, 6, 7 of Interface Board (SERVO CPU). Connect the Servo Motor cable to Interface Board (SERVO MOTOR) 5, 6, 7. Connect the 3Pin Cable to the IN Port 7 of CPU Board and Remote Control Receiving Board.

Completed Supergrab Bot !

Completed Supergrab Bot !

Explain the Program Set the Starting Point of Servo Motor ● Main Function : Setting the starting point and the rotation position of grabbing part. ● Application : Set the zero point and then insert the Motor Guide to the Starting Point setting up the position and set the rotating position with the Servo Motor Chip.

For Servo 5, set the zero point as 2/4 from the program then insert Motor Guide.

Try This! Set the Servo Motor Chip as it opens and closes grab to the grab object.

Set the Starting Point of Servo Motor ● Main Function : Setting the starting point and the rotation position of grabbing part. ● Application : Set the zero point and then insert the Motor Guide to the Starting Point setting up the position and set the rotating position with the Servo Motor Chip.

Try This! Set up Servo Motor Chip to pull up and down the grab to lift up object.

Shall we make it move? 1. Make it to move forward when pressing the button 1, move backward with pressing button 2, turn left with pressing button 3 and turn right with pressing button 4.

2. Make it to lift up the object when pressing the button1, 5 of the Wireless Remote Control and makes to put it down when pressing the button 2, 5.

3. Make it to grab the object when pressing the button 3, 5 of the Wireless Remote Control and makes to put it down when pressing the button 4, 5.

Let’s Play Game! -Moving Ball Survivor!1. Preparation 9 Styrofoam balls (1 ball should have different color than others) 2. Playing Method Install the given balls to certain location before the game starts in certain sized stadium and then start the game. This is the game to move the balls that are in your quarter to the opponent’s. 3. Game Rules - Form of the game is moving the balls to opponent’s quarter within playing time and defense is allowed. - Position of the robot and balls are setting up the by referee or staff - The robot cannot go over to the opponent’s quarter during the game and part of the robot is allowed. - Put the 8 balls to selected position on the right and the left, put the ball with different color on the center of stadium. 4. Evaluation Method 4-1) Victory goes to the one whom the number of ball is smaller than the opponent’s. General ball : 1 point, Mega-ball : 3 points (different colored ball on the center) 4-2) Cold Game Victory When all the 9 balls are moved to the opponent’s quarter, then the game is over even the time is left and wins. 5. Scenes of the Game

What did you learn? 1. Trying to make the Supergrab Bot by using the Interface Board. Connect the 3Pin Cable, the Servo Motor and the DC Motor Cable correctly.

Teacher's Evaluation and Task

Teacher's Confirmation

Today’s Goal

SupertankBot

is a robot that shoots rubber-band as it shots

arrow as connecting rubber-band to Servo Motor and structure. Learn about things with nature of going back to its original shape, elasticity, other than rubber-band and think about used examples of elasticity in our daily lives. Use elasticity of rubber-band and compete with friends that who destroys the most towers!

-tank : a large military vehicle that is equipped with weapons and moves along on metal tracks that are fitted over the wheels

Robots in Life • • • Elasticity and Plasticity • • •

The rubber-band what we use is going back to its original size when we pull and stretch with both hands and then leave hands. This shows that rubberband has nature of going back to its original shape when changes provoked with external power and removed. This nature is called elasticity. The Object with elasticity is called elastic body and the force of elastic body that wants to go back to its original size is called elastic power. Most of the solids have difference in sizes as big or small but it has elasticity. All the objects like rubber, spring, eraser, bow, sponge, rubber ball, bed or steel plate has elasticity. Heading with soccer ball is easy because the soccer ball has an elastic body so it can changes to lessening impact when it hits head. Also our skin, it comes back to its original condition when pressing cheek with a finger, can be one kind of elastic body.

Then the object with an elasticity is always comes back to its original shape? If rubber-band comes back to when pull and leave it, then it still has its elasticity. However, if rubber-band is stretched continuously for long time, it does not snap but it can’t recover to its original condition. Like this, nature which has opposite elasticity, nature which does not come back to its original shape even though external force is removed is called plasticity. The Object with this nature is called plastic body and lump of clay or flour dough can be called as plastic body. How our lives get different if elasticity is gone? We will not be able to use weight, mechanical pencil and ballpoint pen that using the spring and also be able to use stepping board that we using for diving. As an example of steel with very small elasticity, it will break because it cannot come back to its original shape when it bended. Also we will not be able to do a movement of hang down from the horizontal bar. Because spinal cord which is part of body also using elasticity to stretch and shrink. It will be so uncomfortable if the elasticity is unable to use, because elasticity which used in so many areas of our lives nevertheless we do not recognize. Learn more about the objects with elasticity.

Reference http://www.wonspring.com http://www.sngun.com

How to Assemble

1. Put the Middle Frames, Small 4 Frames and Servo Motor on the Main Frames and fix with bolts and nuts.


3. Fix the DC Motors, Interface Board and Battery Case to the Main Frame.

4. A) Overlap 2 Battery Cases and fix to the Main Frame using 20mm Support. B) Fix the Interface Board between 30mm Support and the Motor Frame.

5. Fix the Caterpillar Wheel Guide, Caterpillar Wheels and DC Motor Drive Board to the Main Frame.


7. Fix the Remote Control Receiving Board, Battery Case and CPU Board to the Main Frame. Make 2 lanes as connecting the 45 Caterpillars and fix to the Caterpillar Wheel Guides and Caterpillar Wheels.

8. A) Put the Small 4 Frame under the Battery Case and fix it to the Motor Frame with bolts.

9. Make the cannon as connecting the various frames, supports and the Servo Motor.

10. A) Fix the upper hole of Motor Frame and the bottom hole of Servo Motor with bolts. B) Overlap 2 Small 3 Frames on the Motor Guide and fix it to the Main Frame with 3x10 Bolts.

11. Connect the Power Cable of Battery Case to the CPU Board and Power Connector of the Interface Board. Connect the DC Motor cable to the DC Motor Drive Board.

12. Connect the 3Pin Cable to the OUT Port 1, 2, 3, 4 of CPU Board and Interface Board (DC CPU) 1, 2, 3, 4. Connect the 3Pin Cable to 1, 2, 3, 4 of Interface Board (DRIVER) and DC Motor Drive Board 1, 2, 3, 4.

13. Connect the 3Pin Cable to the OUT Port 5, 6, 7 of CPU Board and 5, 6, 7 of Interface Board (SERVO CPU). Connect the Servo Motor cable to the Interface Board (SERVO MOTOR) 5, 6, 7. Connect the 3Pin Cable to the IN Port 7 of the CPU Board and Remote Control Receiving Board.

Completed Supertank Bot !

Try to Decorate!

Explain the Program Controlling step-by-step with one button of the Remote Control ● Main Function : Can do various movements by using one button of the Remote Control. ● Application : Insert R/C Chip into the R/C Chip and insert the chip which wants to movements when pressed and Delay. Insert to the chip between R/C END Chip and While Chip which wants to movements when unpressed.

Try This! Set the as it moves forward then move backward when button is pressed more than 1 second continuously when pressing 1 of Remote Control.

Set the Starting Point of Servo Motor ● Main Function : Setting up the starting point and the rotation position of Servo Motor that moves cannon to left to right. ● Application : Set the zero point then insert the Motor Guide to Starting Point setting up the position and setting up the rotating position with Servo Motor Chip.

Try This! Set the Servo Motor Chip as cannon directs right, front and left.

Set the Starting Point of Servo Motor ● Main Function : Setting up the starting point and the rotation position of Servo Motor that moves cannon to up and down. ● Application : Set the zero point then insert the Motor Guide to Starting Point setting up the position and setting up the rotating position with Servo Motor Chip.

Try This! Set the Servo Motor Chip as cannon directs up, middle and down.

Set the Starting Point of Servo Motor ● Main Function : Setting up the starting point and the rotation position of Servo Motor that loads or shoots the cannonball. ● Application : Set the zero point then insert Motor Guide to the Starting Point setting up the position and setting up the rotating position with Servo Motor Chip.

Try This! Set the Servo Motor Chip as it loads cannonball and shoot it.

Shall we make it move? 1. Make the cannon to move as dividing into steps as middle right when pressing the button 1, 5 of Remote Control.

➜ left ➜ middle ➜

2. Make the cannon to move as dividing into steps as middle down when pressing the button 2, 5 of Remote Control.

➜ up ➜ middle ➜

3. Make the cannonball to be shot when pressing the button 3, 5 of Remote Control.

4. Combine all programs to play the game.

Let’s Play Game! -Make the obstacles to fall using elasticity!1. Preparation Rubber-band Paper cups to use as obstacles 2. How to play Starting the game where surrounded by obstacles that are made as piling paper cups. 3. Game Rules - Points are counted as fallen number of obstacles. e.g.) if you made a pile of 2 cups fall, 2 points are counted - Points are counted when paper cup is fall on the side - In case of piled obstacles with 2 or 3 cups, points are counted when you made all the cups, also the cup on the very bottom, fall. 4. Scenes of the Game

Let’s Play Game! -Make the obstacles to fall using elasticity!1. Preparation Rubber-band Paper cups to use as obstacles 2. How to play Starting the game after piling a tower with paper cup in chosen area at each quarter. It is a game to destroy paper cup tower in opponent’s quarter. 3. Game Rules - Form of the game is destroying paper cup tower in opponent’s quarter within playing time and defense is allowed. - Robot cannot go over to opponent’s quarter during the game and part of robot is allowed. - Rubber-band can be reloaded only in charging area and you should not touch robot in stadium except in the charging area. - Point is counted only when paper cup is fallen to the side. - When opponent’s tower is completely destroyed, game is over even the time is left and wins. 4. Scenes of the Game

What did you learn? 1. Find the elastic body from the objects below and make bingo.



Today’s Goal

BowlingBot is

a bowling robot that grab the ball with grabbing

structure which is connected to Servo Motor and then roll it to knock down the objects. Learn about origin and etiquette what you should know to playing the bowling game, and having bowling competition which you can enjoy delightful strike!

-bowling : a game in which you roll a ball down towards 10 pins (bowling pins) and try to knock down as many of them as possible -strike : knocking down all 10 pins as you roll a ball down once in bowling -etiquette : protocol, manner, courtesy

Robots in Life • • • Bowling • • •

Have you ever played bowling? Bowling is a sport that can be enjoyed by every gender and age and it is game to knock down 10 pins standing at the end of the lane (court floor). Bowling is predicted as it was origin from human’s action of catching animals as throwing some object to survive in stone age. Also guess that humans have practiced throwing hunting equipment or stone as targeting specific aim. However, generally origin of bowling is considered as grave goods that are exhibited in London Museum.

While English archeologist was excavating tomb of Egypt, he found grave goods from child’s tomb. Excavated goods of the time were 3 balls and 9 pins made by stone and few pieces of marbles. By the time in Egypt had custom of burying goods that dead people had enjoyed and treated preciously so we can predict that bowling had taken place somehow in ancient Egypt. This is considered as the very first bowling equipments on Earth today. Bowling is a 1:1 game unlike baseball or football which requires many people. Each player has order and on the turn you should express and show all you

have got. Maybe that is why bowling has much etiquette to observe than other sports. Most important etiquette is consideration for others who enjoys bowling together. If strike or spare is made, encourage with clap. Other than that, you should look out on left and right lanes when throwing a ball. If throwing balls together on both lanes, you should concede to right person. Also, you should not bump a ball. This could damages lane and effects on other person’s game. Of course, making loud noise, drinking and smoking are prohibited. If you play bowling after reading contents above, you might play bowling more interestingly. Especially, remember the etiquettes!

Reference http://www.abowl.co.kr

How to Assemble

1. Put the Battery Cases and Motor Frames on the Main Frame and fix with 35mm Supports, bolts and nuts.

2. Assemble as referring to the picture taken from different angle. A) Empty as not fixing bolts.

3. Put the Interface Board and Battery Case on the Support and fix with 20mm Supports and nuts. Fix the DC Motor on the Motor Frame and insert the Wheels.


5. Fix the L-type 2x2 Frames that are connected to the Servo Motor with 25mm Supports and then connect the L-type 2x6 Frames that are fixed to the CPU Board and make face of the robot.


7. Make the left arm using the Remote Control Receiving Board, DC Motor Drive Board and various frames.

8. Assemble as referring to the picture taken from different angle. A) Fix the L-type 2x6 Frame and L-type 2x1 Frame under Remote Control Receiving Board then connect the Motor Frame to the L-type 2x1 Frame.

9. Make the right arm using the Servo Motor and various frames.

10. Assemble as referring to the picture taken from different angle. A) Program after setting up the zero point of Servo Motor then fix the 2.6x10 Bolts that Motor Guides do not get separated while moving.

11. Connect the Power Cable of Battery Case to the CPU Board and Power Connector of the Interface Board. Connect the DC Motor cable to DC Motor Drive Board.

12. Connect the 3Pin Cable to the OUT Port 1, 2, 3, 4 of CPU Board and Interface Board (DC CPU) 1, 2, 3, 4. Connect the 3Pin Cable to 1, 2, 3, 4 of the Interface Board (DRIVER) and DC Motor Drive Board 1, 2, 3, 4.

13. Connect the 3Pin Cable to the OUT Port 5, 6, 7 of CPU Board and 5, 6, 7 of Interface Board (SERVO CPU). Connect the Servo Motor cable to Interface Board (SERVO MOTOR) 5, 6, 7. Connect the 3Pin Cable to IN Port 7 of CPU Board and Remote Con troll Receiving Board.

Completed Bowling Bot !

Try to Decorate!

Explain the Program Set the Starting Point of Servo Motor ● Main Function : Setting up the starting point and rotation position of Servo Motor that grabs bowling ball. ● Application : Set the zero point and then insert the Motor Guide to Starting Point setting up the position and setting up the rotating position with Servo Motor Chip.

Try This! Set the Servo Motor Chip as it can grab and release bowling ball.

Set the Starting Point of Servo Motor ● Main Function : Setting up the starting point and rotation position of the Servo Motor that lifts up and rolls bowling ball. ● Application : Set the zero point and then insert the Motor Guide to Starting Point setting up the position and setting up the rotating position with Servo Motor Chip.

Try This! Set the Servo Motor Chip as it lifts up and rolls bowling ball.

Shall we make it move? 1. Make it to move forward when pressing the button 1 of the Wireless Remote Control, move backward with pressing the button 2, turn left with pressing the button 3 and turn right with button 4.

2. Make it to grab and lift up the ball when pressing the button1, 5 of the Wireless Remote Control.

3. Make it to release and roll the ball then make its arm to come back to its original position when pressing the button 2, 5 of the Wireless Remote Control.

4. Combine all programs to play the game.

Let’s Play Game! -Knock down the Bowling Pins!1. Preparation Bowling ball ➜Golf ball Bowling Pin

➜10

batteries

2. How to play Install bowling pins to the certain location before the game starts in certain sized stadium then start the game. This is the game to knock down bowling pins with a bowling ball. 3. Game Rules - Start as putting front wheels on starting line. - Only can grab or lift up motions inside grabbing ball area. - Try not to go over the ball throwing line and throw ball (rolling ball motion) towards bowling pins. - Throwing ball over the ball throwing line is foul. - If a bowling ball goes over both side lines, it is considered as girder ball so count as 0 point. - One game is formed with 10 frames and you can throw a ball twice in each frame. But strike can only throw once. * Each Frame = First throw + Second throw - If you made strike or spare, you may throw 3 times in last 10 th frame. 4. Evaluation Method - One pin is a point and the perfect score is 300 points. - Strike gets 10 points and gets 1 st and 2nd points of next frame as bonus. - If you made spare, you will get 1 st points of next frame as bonus.

4-1) Example of Point Calculation 1 8

2 -

8

9

3 /

28

4 x

45

F

5 7

52

0

6

7

8

9

10

omit

x x 9 90

9 61

omit

omit

- : no spare

omit

/ : spare

x : strike

F : foul

1st Frame 1st throw got 8 pins, 2 nd throw got 0 pin. 8+0=8 2nd Frame 1st throw got 9 pins, 2 nd throw made spare. Spare = current frame score + 1 st throw points of 3 rd Frame. 8+9+1+10=28 3rd Frame 1st throw got 10 pins (made strike). Strike = 10points of current frame + 1 st and 2nd throw points of 4 th Frame 28+10+7=45

4th Frame 1st throw got 0 pin with foul, 2 nd throw got 7 pins. 45+0+7=52 5th Frame 1st throw got 0 pin with girder ball, 2 nd throw got 9 pins. 52+0+9=61 10th Frame 1st and 2nd throw made strike, 3 rd throw got 9 pins. 61+10+10+0=90 5. Scenes of the Game

What did you learn? 1. Jane and John had bowling competition. Jane ’s score is 129 and John is as below, who was the winner? 1 X

2 7

3

4

5 /

F

17

6 7

7

8

9

10

8

51 - : no spare

1st Frame : 1st throw got 10 pins (strike)

/ : spare

x : strike

F : foul

10+▢=17

2nd Frame : 1st throw got 7 pins, 2 nd throw got 2 pins

17+▢+2=▢

3rd Frame : 1st throw got o pin as girder ball, 2 nd throw got 8 pins 4th Frame : 1st throw got 9 pins, 2 nd throw made spare 5th Frame : 1st throw got 0 pin as foul, 2nd throw got 7 pins

▢

+0+7=51

6th Frame : 1st throw got 8 pins, 2 nd throw got 1 pin 7th Frame : 1st throw made strike 8th Frame : 1st throw got 7 pins, 2 nd throw made spare 9th Frame : 1st throw got 9 pins, 2 nd throw no spare 10th Frame : 1st throw got 8 pins, 2nd throw made spare, 3 rd throw got 8 pins



Today’s Goal

BullBot is bull robot that can have bull fight with techniques of butting or lifting. Learn how bull fight, Korean traditional game, had started and kinds of techniques of bull fight. Have a competition of pushing away using drive Servo Motor from both sides like a bull which using the horn of head for pushing away!

-bull : a male animal of the cow family

Robots in Life • • • Bull Fight • • •

Bull fight is one kind of game to enjoy as seeing two cows compete their powers. Days before, every town raised fighting cows and they had considered victory in bull fight as honor. If so, when did the bull fight started? It is not possible to know exactly however, it is predicted as it was a play to spend spare time for cowherds when agricultural civilization had been settled and had had expand gradually. People also predicted as when cows eat grasses in one place and they fight as confront their heads against each other so the owners cheer for their cows to win had developed as the enjoyment for people to watch. Currently, the size of Korean bull fight is getting bigger every year so it became a good touring sight for tourists.

Fighting cow is selected from bulls with endurance, tall height, big size and highly developed scruff of neck. It can participate in matches for average of 5~7 years and it does physical strength and technique training instead of farming to participate. Mostly, it is trained as pulling tires for physique and trains technique through horn hit and competing strength. Bull fight match is divided with its weight of fighting cow then makes program as drawing lots with cow owners. There is no time limitation so the match ends when a cow loses. Match ends as when a cow turns its head and runs away. Usually it takes few minutes for weak cow to give up however sometimes it takes as much as 10 minutes. Each match is 1:1 single game. Do you want to see the Korean traditional game Bull Fight? If so, make your own fighting cow and playing the push out game with your friends!

Reference http://bullfighting.cheondo.go.kr

How to Assemble

1. Put the Battery Case and Motor Frame on the Main Frame and fix with 35mm Supports, bolts and nuts.

2. A) Fix the bolt as inner side of Motor Frame. B) Empty as not fixing bolts.

3. Fix the Servo Motor to Main Frame using the Motor Frames and 15mm Supports.

4. Assemble as referring to the picture taken from different angle. A) Firstly fix the Servo Motor and 15mm Support to Motor Frame.

5. Fix the DC Motor Drive Boards and Interface Board and then fix the DC Motors to Motor Frames and insert the Wheels.

6. Assemble as referring to the picture taken from different angle. A) Fix the Servo Motor to the L-type 2x6 Frame and make a tail then overlap the DC Motor Drive Board and fix it to the Motor Frame with bolts.

7. Using various frames, Caterpillar Wheel Guide and Tire to the Main Frame to make face of the bull.

8. Assemble as referring to the picture taken from different angle as looking out on the position and length of the Support.

9. Connect the link structure to Servo Motor and fix bull face then attach the CPU Board and Remote Control Receiving Board.

10. Assemble as referring to the picture taken from different angle as looking out on using position of Nylon Nut.

11. Connect the Power Cable of Battery Case to the CPU Board and Power Connector of the Interface Board. Connect the DC Motor cable to the DC Motor Drive Board.

12. Connect the 3Pin Cable to the OUT Port 1, 2, 3, 4 of CPU Board and Interface Board (DC CPU) 1, 2, 3, 4. Connect the 3Pin Cable to 1, 2, 3, 4 of Interface Board (DRIVER) and DC Motor Drive Board 1, 2, 3, 4.

13. Connect the 3Pin Cable to the OUT Port 5, 6 of CPU Board and 5, 6 of Interface Board (SERVO CPU). Connect the Servo Motor cable to the Interface Board (SERVO MOTOR) 5, 6. Connect the 3Pin Cable to IN Port 7 of CPU Board and Remote Control Receiving Board.

Completed Bull Bot !

Try to Decorate!

Explain the Program Set the Starting Point of Servo Motor ● Main Function : Setting up the starting point and radius of rotation of Servo Motor. ● Application : Set the zero point and then insert the Motor Guide to Starting Point setting up the position and setting up the rotating position with Servo Motor Chip.

Set the zero point as 1 on the program of Servo5 then insert Motor Guide. Set the zero point as 2/4 on the program of Servo5 then insert Motor Guide.

Try This! Make as horn faces upward as putting its head up.

Try This! Make as horn faces ground as knocking its head down.

Try This! Make its head facing at the front to make able to attack opponents with horn.

Shall we make it move? 1. Make it to move forward when pressing the button 1 of the Wireless Remote Control, move backward with pressing the button 2, turn left with button 3 and turn right with button 4.

2. Make its horn to face upward when pressing the button 1, 5 of the Wireless Remote Control and make it to face downward when pressing the button 2, 5.

3. Make its horn to face in front when pressing the button 3, 5.

4. Combine all programs to make able to play the game.

Let’s Play Game! -Bull Fight1. How to play Start the game as putting robot inside certain sized stadium. This is a game as pushing out the opponent as using freely movable (facing up and down) horn. 2. Game Rules - It is considered as winning when push opponent’s robot and a wheel of it gets out of stadium. - Robot cannot use any sharp objects rather than pushing out or push down opponent’s robot. - If victory cannot be figured within match time, referee should make a decision or do rematch. 3. Scenes of the Game

-Robot bull tug of war1. How to play This is a game of tug of war as tying rope to horn of robot bull and to pull opponent. Mark a line on the middle and the player with more rope wins. 2. Game Rules - Wins as pulling opponent and make it to come over the center line or having more ropes. - If opponent’s wheels come over the center line, game finishes and consider as winning.

3. Scenes of the Game

What did you learn? 1. The Picture below shows link structure of the Bull Bot. If Small 8 Frame is fixe on the position A, write down what changes does it make in its movements.

- If it is moved to the position A, a power of pulling up the robot’s head is becomes (stronger, weaker). - If it is moved to the position A, a range of moving head is becomes (wider, smaller).



Today’s Goal

TrailerBot is a robot that moves trailer as using connecting device on the back of a truck with only driving space. Learn about standard that divides vehicle’s driving system and examine what differences show depending on its driving system. Have a race to who is the best driver of the trailer truck that changes direction using steering device in the front of vehicle.

-trailer : a container on wheels which is pulled by a car or other vehicle and which is used for transporting large or heavy items -driver : person who is driving, motorist, chauffeur, pilot, operator

Robots in Life • • • Driving System of Vehicles • • •

Have you ever heard of words like 2 Wheel Drive or 4 Wheel Drive? These are about driving system of vehicle, which is about moving method of vehicle. Driving system of vehicle is broadly divided as 2 Wheel Drive and 4 Wheel Drive. 2 Wheel Drive is a type that power is only transferred to one side, either front or back wheels. If 2 wheels of one side move with power, other 2 are following the other 2. Here, if power is transferred to front wheels, it is a front wheel drive car, and if power is transferred to back wheels, it is called as a back wheel drive car. The standard of it is on relationship between the engine and the wheels.

FF (Front engine Front Drive) which is a front wheel drive car has engine in front of car and that engine transfers power to front wheels. The power lose is small because transferred to front wheels which are close to engine and has advantage of having roomy indoor. That is because most of Korean cars are using this system.

FR (Front engine Rear Drive) which is a rear wheel drive car has engine in front and transferring power to back wheels so weight distribution of car is very well. It is very stable on drive however, the connecting device of engine and back wheels are placed under car body so has disadvantage of high car floor.

MR (Mid engine Rear Drive) which is a rear wheel drive car has engine in middle and transferring power to back wheels so has disadvantage that the rear seat of car is very small or none. However it has very strong power due to unlimited size of engine. Enzo Ferrari and Toyota MR2 what are called as super cars are under come to this division.

RR (Rear engine Rear Drive) which is a rear wheel drive car has engine at the back and transferring power to back wheels. This method is highly safe and power of engine is mostly not consumed because engine is transferring power to back wheels which are near engine. 4 Wheel Drive uses all 4 wheels so power of engine is divided equally to all wheels due to power of adherence to ground is very good which made to have high safeness. However it has much machinery to move 4 wheels and consumption of fuel is fairly high. What type of driving system vehicle you have been ride? Also what type of driving system using by Trailer Bot which you will make this time?

Reference http://cafe.naver.com/xenopsyx/284

How to Assemble

1. Connect the Main Frame and Middle Frame and then fix the Motor Frames, the L-type 2x6 Frames, Supports and others with bolts and nuts and make body of truck.

2. Check the assembling position and then assemble the Motor Frame using 40mm Support and bolts.

3. Connect the DC Motors to the Motor Frame and then fix the Wheels. Overlap 2 Battery Cases and fix the with 25mm Supports.


5. Connect and fix the Interface Board to the L-type 2x6 Frame and Middle Frame. Put the Servo Motor on Supports and fix.

6. Assemble as referring to the picture taken from different angle. A) Fix the Motor Frame on the Servo Motor and then check the assembling position and fix the 25mm Support to Interface Board.

7. Use the Option Frames, Small Frames and 40mm Supports and make the trailer connecting device.

8. Assemble as referring to the picture taken from different angle. A) Overlap and assemble the Small 4 Frames under Option Frame and on the opposite side, overlap and fix the Small 3 Frames under Small 5 Frame.

9. Fix the Middle Frame, Option Frames and the L-type 2x2 Frames with Supports and Nylon Nuts and make steering system.


11. Connect the Motor Guide and Wheels to the Steering system.

12. A) Fix the bolts to the Motor Frame. B) Insert the 5mm Supports to the Wheels and then fix the L-type 2x2 Frame with Nylon Nuts.

13. Fix the Servo Motor using 40mm Supports and then assemble the CPU Board.

14. A) Empty as not inserting the bolts. B) Set the zero point of Servo Motor and then insert the Motor Guide to the Servo Motor axle.

15. Assemble the Remote Control Receiving Board and Battery Case with various frames and make the driver’s seat of truck.

16. Assemble as referring to the picture taken from different angle. A) Assemble the DC Motor Drive to the L-type 2x1 Frame then fix with the bolts of Motor Frame that is assembled to the CPU Board.

17. Connect the Power Cable of Battery Case to the CPU Board and Power Connector of Interface Board. Connect the DC Motor cable to the DC Motor Drive Board.

18. Connect the 3Pin Cable to OUT Port 1, 2, 3, 4 of CPU Board and Interface Board (DC CPU) 1, 2, 3, 4. Connect the 3Pin Cable to 1, 2, 3, 4 of Interface Board (DRIVER) and DC Motor Drive Board 1, 2, 3, 4.

19. Connect the 3Pin Cable to OUT Port 5, 6 of CPU Board and 5, 6 of Interface Board (SERVO CPU). Connect the Servo Motor cable to Interface Board (SERVO MOTOR) 5, 6. Connect the 3Pin Cable to IN Port 7 of CPU Board and Remote Control Receiving Board.

20. Connect the 2 Main Frames and then fix the Wheels and make the trailer.

21. Looking out the position and length of used Support and assemble as referring to the picture taken from different angle.

Completed Trailer Bot !

Try to Decorate!

Explain the Program Set the Starting Point of Servo Motor ● Main Function : Setting up the starting point and radius of rotation of the Servo Motor. ● Application : Set the zero point and then insert the Motor Guide to Starting Point setting up the position and setting up the rotating position with Servo Motor Chip.

Try This! Set the Servo Motor Chip as robot to move forward, turn left and right.

Explain the Program Set the Starting Point of Servo Motor ● Main Function : Setting up the starting point and radius of rotation of the Servo Motor that connects the trailer. ● Application : Set the zero point and then insert the Motor Guide to Starting Point setting up the position and setting up the rotating position with Servo Motor Chip.

Try This! Set the Servo Motor Chip to make closed trailer connecting device to open.

Shall we make it move? 1. Make it to move forward when pressing button 1 of the Wireless Remote Control, move backward with pressing the button2, turn left when pressing 1, 3 and turn right with 1, 4.

2. Make it to turn left while moving backwards when pressing the button 2, 3 of the Wireless Remote Control, turn right while moving backwards with pressing the button 2, 4. Also make only front wheels to turn left when pressing 3 and turn right with 4.

3. Make trailer connecting device to close when pressing button 1, 5 of the Wireless Remote Control and to open with 2, 5.

4. Combine all programs to make able to play the game.

Let’s Play Game! -Connect the Trailer!-

1. How to play Start the game as installing trailer in certain sized stadium. This game is to drive T-type course then connecting parked trailer to robot. 2. Game Rules - Arrive after connecting trailer to robot within running time. - Apply deduction if robot went over racing lane during the game. 3. Scenes of the Game

Let’s Play Game! -Export Trailer to overseas!-

1. How to play Start the game as installing trailer in certain sized stadium. This game is connecting trailer to robot then put it down in departing area. 2. Game Rules - Wins as moving trailer to departing area the quickest. - Apply deduction if robot went over racing lane during the game. 3. Scenes of the Game

What did you learn? 1. Trying to park driving the Trailer Bot. How should you control steering system (front wheels) to park backwards properly?


Teacher's Confirmation Confirmation

Today’s Goal

FutureBot is

a self-created robot according to given topic. You

can perform your abilities as practicing assembling methods and program chips that you have learned. Make your own robot with refreshing and creative idea that can help many people!

- future : time to come, time ahead - idea : thought, concept

Robots in Life • • • Household Robot • • •

Have you ever seen robots in movies or novels? A robot like giving drinks for its master or like a friend who can talk to comfortably. Household robot is a robot that helps, protects and gives enjoyments to humans in real life. Household robot has various kinds because it is moving as recognizing surrounding situation by itself to do works instead of humans. As we have learned ahead like cleaning robots, parrot robots or dog robots are all included in criteria of household robot. Learn other various kinds of household robots and make a robot that can help the family in our home.

Wakamaru, that can distinguish faces of 10 people as upmost and understands 10,000 words. Wakamaru recognizes human faces and come closer to talk to it can work not only as secretary but also can function as guarding or serving elders.

Robot Paro that looks like a sew doll but has numerous sensors and processors inside artificial fur. Paro reacts to surrounded environment as it fall asleep as closing its eyes when it is hugged. This robot is used to relive stress of aged or others.

IfBot, that loves to talk with a funny face. It can define emotions of person who it is talk to in 4 states as anger, happiness, pity and usual. IfBot has conversation ability of 5 year old child that can be the companion to lonely elders.

Nubo, that can stand up by itself even if it falls with its 15 joints. This robot is 2-legged robot which can dance as using Remote Control or mobile phone or make to detect sound of human. Cameras are attached to its both eyes so also can be used as guard for empty house and it is on sale since year 2005.

What did you learn? 1. Solve the crosswords using across and vertical keys. 1

2

3

4

5

6

7

8

9

10

11

12

[Cross key] 1. What is the button when using stop to robot? Stay in RS232 cable is connected ? 4. The button which makes the robot working stay In RS232 cable. 5. Using this chip, which part export the speaker when necessary with Remembers a sound. 8. What is the chip which uses when repeat a program as a number of times? 9. In order for the operation for hour to be maintained, this chip will be required. 11. The speed and direction of DC motors must use DC OOOOO chips. 12. What is the chip using for turn off the LED and buzzer? [Vertical key] 1. Have an intention as ‘save’ and using when keeping a program in the computer 2. Says the instruction for moving the robot, Says that draws up OOOO. 3. What is the chip using for in order to light buzzer or LED. 4. The OOOOOO control chips, they call reduce as R/C or Remote Control. 6. The program downloads in OOO boards which do a same duty with the brain of the human being. 7. This motor will be able to control sets with OOOOO chips, what Rotation location precisely 10. What is the chip, which the intention with ‘if’ and sets the condition of case YES or NO.

workbook4.pdf

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