Outdoor Traversing Autonomous Robot
For evaluating outdoor navigation, movements, and functions.


Above: Test fitting of the stained plywood body on top of the mobility platform.  The cutout
for the arm is on the left side here.

Updated 7/14/18
Key Search Words: ROBOT, ROBOTICS, ROBOTIC VISION, ARTIFICIAL INTELLIGENCE, AI

 

      
Here are more images
      of the construction of the main body of the robot, which is constructed
      from 5 ply 3/16 sanded finish plywood made for covering floors
      prior to laying down tiles. Although this is a soft pine like
      wood, it finishes well and after polyurethane, it will be lightweight
      and very durable. It is easy to work for holes and mounting sensors
      and is a perfect scheme for an outdoor forest roving robot.

      
Click
      all thumbnails for a larger 1024 x 768 size:

      

        

          
 
          
 The
            start of laying out the plywood sheet. The foam core precision
            model can be seen on the left. The hope is that the plywood version
            will look the same! One inch gaps were drawn in between parts.
            This allows the parts to be rough cut on the saw horses with
            a saber saw, then fine cut on the bandsaw indoors to make a precise
            cut.
 
        
      

        

          
 
          
 All
            the parts band sawed out. Its hard to imagine this is 5 ply plywood!
            It appears to be without voids and cuts cleanly. Some wood filling
            on the edges will be required.
 
        
      

        

          
 
          
 After
            gluing the parts together in jigs and fixtures to ensure a square
            profile, the wooden tower is placed upon the robot for the very
            first time. This is such an exciting moment to see what the robot
            will look like. Im holding the door for the electronics bay here
            on the left.
 
        
      

        

          
 
          
 Front
            view showing the recess for the arm. The robots arm will be folded
            up and stowed inside this cavity. I may have a set of double
            doors that open up to let the arm extend.
 
        
      

        

          
 
          
 After
            filling, sanding and staining, the robots body is nearly done.
            One more coat of polyurethane will seal it and prevent it from
            distorting when the humidity changes. The cap is on the top here,
            and eventually will be the base plate for the robots sensory
            head. The plate will be removable to allow access to the small
            cavity under it for sensor electronics. Also, by doing this I
            will be easy to remove the head for working on it separately.
            What will the head look like? Stay tuned!
 
        
      

        

          
 
          
 Close
            up of the drive assembly showing the terminal block on one side
            I made to hold the red forked terminals that connect to the motors.
            The black battery is seen inside on the right side.
 
        
      

        

          
 
          

            
 Inside the
            back door will be the electronics bay. At the bottom is the top
            third of the battery. You can see I mounted it very low in the
            robot to keep the center of gravity down near the ground so the
            robot is much more stable. The top tower weighs really nothing
            - It is so light to keep the CG low. Even when full of electronics
            it will be light weight.

            
NEXT: The plan
            will be to mount the tower onto the base permanently, and start
            mounting in the processor boards. Since this is an outdoor robot,
            sensors must work outside in daylight which precludes any type
            of IR types, and most tiny low cost lasers. What does work? Acoustical,
            RF, and vision cameras.
          
        
      

      

Previous Uploads on this robot:

1.  Basic concepts and prototype, Base design
2.  Initial Hardware construction - 1

 

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