RAL 1000

built by David Mitchell

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Target Environment Locomotion Method
Indoors Static
Sensors / Input Devices Actuators / Output Devices
pressure sensors on fingers
microswitches
3v DC motor
wind screen wiper motor
tone generator
Control Method Power Source
programmable via control panel N/A
CPU Type Operating System
None None
Programming Lanuage Weight
None N/A
Time to build Cost to build
N/A N/A
URL for more information
N/A
Comments
Sorry about the corny photo, this was taken at high school in about late 1985. This obviously is an 'Arm' robot (polar type), it has a gripper with sensors on each finger that measure pressure and stop the gripper motor from closing any further. The gripper has no wrist joints. The Gripper is mounted on an a rack and pinion so that the arm can extend and retract, this mechanism is from an old overhead projector adjust mechanism and is driven by an oven rotiserari gear box which had the AC motor removed and replaced by a 3V DC motor with plastic gear. The rack and pinion used microswitches from sensing position, so it was quite coarse. The arm use a wind screen wiper motor to lift the arm up and down in an arc, this also has microswitches. Rotation motion was provided by another windscreen wiper motor, but this time not a permanent magnet type - so the motor was taken apart and the field coil wiring enabled when moving and the rotor current could be reversed for direction - and you guess it - microswitches for positioning. The robot used four 2102 - 1k x 1 bit memories (they were old fashioned when I used them) for storing the commands and cmos logic for the state machine, the commands entered via the keyboard and displayed in binary (ok hard to read but it looked great when running a sequence), a switch changed from programming to run mode and a knob adjusted the speed the sequence ran through. There was also a tone that could be programmed to go on - which was useful to indicate end of sequence. It is still about today, but has seen better days. DM

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