NXTGallery - Latest Robots

YACC!

In the spirit of the name of YAHOO! comes YACC!, Yet Another Car Chassis. I guess I could also call it Car 5.0 or something like that, since this is my fifth completely re-engineered car chassis (Convertible, F1, Deuce Coupe, Advanced Car/Volt 2020, YACC!). Although I dropped the AWD feature of 4.x because of the huge amount of additional friction it produced, greatly reducing the car�s efficiency, I decided to add suspension to this one. It has suspension on all four wheels. I also included a much smaller transmission, since no AWD means that it does not require the third differential. I intend for this chassis to eventually be a VW Beetle.

BrickBot v1

This robot was designed and built in about 1.5 hours, using the retail NXT set, the Edu expansion set, and the Edu tracks & sprockets set. It was designed to be able to move on an of it�s faces except the left and right. It was designed for easy access to the motor and sensor ports, as well as the USB port. The brick is fairly easy to remove. The sensors include: • The Touch sensor: Embedded in the right track loop, it can tell the NXT when it is upside down. • The sound sensor: Tucked away under the bot, this sensor helps detect enemies. • The light Sensor: Hidden deep within and under the bot, this sensor allows BrickBot to follow lines. • The Ultra Sonic sensor: Mounted on the front of the bot, this sensor detects walls and intruders. Have a nice day, ~Sidneys1

videopoker

Not exactly a robot, but a small game program for the NXT that uses RIC screen definition files created with nxtRICeditv2 to enormously simplify the task of screen display and update. A specific goal of this project was to minimize the size of the RIC file that displays the five cards in the players hand, so it is designed to construct the individual elements of the cards in real time rather than simply having a bank of 52 cards to copy from. The result was an RIC file that is less than 1,200 bytes in size. All files required to play the game are in the attached ZIP. Simply copy all of them (except NXC source and PDF instructions ) to your NXT and run.

WALL-E II

My first version of WALL-E went the way of most of my robots: I built a robot that was really a bit too complex, and then got bored and never programmed it. This one is different, though. Although I got rid of all but the most basic functions, this one ended up doing more than the last one. I built this one so that it would be to scale with the tracks. On the last one, the tracks were to small and the robot had a tendency to fall over. The program is simple, but it works nicely as a multipurpose IRPD program.

2 motor Omnidirectonal, non-holonic, drive

This robot is capable of driving in any direction without having to turn. It uses adapted wheels from Steve Hassenplug�s Omni. One motor drives one pair of opposite wheels, and another drives the other pair. The idea is, one motor move its �sideways�, and the other, independantly of the first, moves it forward. This cad has no NXT brick, but one could be mounted with a little imagination. This robot was originally developed for FLL, but it was not accurate enough. However, it would work well with a remote control. Unfortunately, no pictures were taken of the built up robot, so I had to post the CAD.

Synchro drive prototype

This is a POV-Ray of a prototype Synchro Drive. It was modelled using MLCad, and converted using L3pao. A Synchro drive uses two motors such that one motor drives all four wheels, and the other spins all four turntables. The motors can be run simultaneously, resulting in curved movements. One of the main features is that the chassis will always face the same direction. There is a good reason that the wheels are off-centered: When the turntable turn, the wheels also receive the power of the turntable, and by keeping them at the edge, the chassis stays stationary. Unfortunately, this can result in instability (and in this case, did). .mpd file, with full instructions, is attached

Advanced Car

With this creation, I combined the features of my transmission car and my Deuce Coupe. This car has more features than almost all (if not all) Lego cars this size. It measures a mere 32x21x14 studs, no bigger than any of my previous Lego cars, and includes several new features. It includes a rear-mounted 4-cylinder engine, computer-controlled 3-speed transmission, and 4-wheel drive. The construction of this car was more difficult than any before it mostly because it features a transmission, which takes up a large amount of space. In order to fit it with everything else in so little space, everything else had to be compact as possible. Also, incorporating a differential and universal joints between the front wheels was a difficult task. My first few attempts at getting everything to fit in front were rather wide. However, sacrifices must be made to make everything so compact. There is no room for a second drive motor, making second gear only for tile and third gear strictly for downhill. There isn�t another port on the RCX, anyway. The shock absorbers on the rear wheels do not actually absorb shock, since the rear axle cannot bend, but do help support the rear wheels. The car features two touch sensors to detect the position of the gear selector, and a rotation sensor to sense motor rotation speed, if I ever get around to programming it. For now, it is fun to remote-control. Update: I have added a body to the car. It kind of looks like a British (the steering wheel is on the right side of the car because there is no room on the left) cross between a Ford Mustang, a Chrysler Crossfire, and a Pontiac Solstice coupe with a Mercedes-Benz logo (actually a steering wheel) on the front. Download attachments Car_shell1 and Car_shell2 to see.

Dragster Extreme V1

This is my 3rd attempt on breaking the fastest NXT record. And it did! (According to my caculations) It travels at 6.18686869 mph or 108.8888888888 inch per second. This is not what I beleive the top speed as the track I�m using is just too short and ends within a few seconds. Sorry to all who are trying to beat the record though I�ll post some more pictures and some videos (including one with the camera on board!) It was risky putting the camera on the robot as sometimes the NXT overshoots and then crashes down the stairs. (My heart beat went up a bit before I touched the orange button.) BTW the green strings are the strings I used to connect the camera to the NXT and serves no other perpous. UPDATE: I was again unable to upload the vid here so just another mouse click: Download Here

Transmission Car

I intended for this car to be capable of breaking the 5mph record for the fastest unassisted robot, but I had a few technical difficulties. Still, it is a pretty good design. It features one of the most compact automatic Lego transmissions I have seen. Unfortunately, it requires a rubber band with a VERY specific strength, and I couldn�t find one. Two motors power one end of a shaft that goes into a differential at a 3:1 gear ratio. The gearbox is on the other side of the differential. It has 3 gear ratios: 3:1, 1:1, and 1:3. The power then goes through a few more gears, which have a total ratio of 1:1 (actually 3:5:3). Therefore, the whole transmission can have a gear ratio of either 1:1, 3:1, or 9:1, resulting in a robot capable of moving very fast. In order to switch gears, the resistance on the output axle of the differential must be greater than the resistance to turn the differential (provided by the rubber band). When this happens, the differential turns, and the mechanism for sliding the output axle of the gearbox moves, shifting the gears to a lower ratio. Unfortunately, the rubber band must be of a very specific strength, so that the gears do not shift too early or too late. Because of the variety of gear ratios, the car is able to overcome inertia in the lower gears, and then switches to high gear when there is little resistance to maintain velocity. This, plus the big wheels, enables it to move at a very high speed. Unfortunately, my camera is not very good quality and does not focus well, so the pictures are blurry. Hopefully you can see well enough.

My First Mock Up Airplane

This is my first mock up airplane. It has the side adjustment things (I forgot what you call them) and the rear sterring flap. It can drive forward and uses the bulky motors to look like a jet engine. It is my first mock up and hopefully not my last. I know this might not look like a real airplane but I still like it.

4WIDR V2

Here is my V2 of my 4WIDR. It is able to now climb smooth sufaces. The stack of tapes you see in the photo is part of my testing course for it. (Yes, it passed) Sorry for the bad lighting. My lights were too close to the NXT and made it ultra reflective. It uses the US for two things, one for sensing a object in front and one for sensing if there is a ledge. If there is more than a few cm it will tell it is a ledge and if it is less than a few cm it will tell there is a wall. I find using the US sensor for two purpouses fun and ablet to save money instead of buying another US

ClawBot

ClawBot is my submission to the alternative propulsion project. ClawBot moves around by swinging the claws forward, grabbing the floor, and pulling itself forward. This process is started by clapping into the sound sensor.

Biroto

This is my entry for the Alternative Propulsion Challenge. This isn�t the first or the best balancing robot, but I would say that only 2 wheels is unusual for a Lego robot. Adding to the challenge is that I don�t have an NXT, or, more importantly, the gyro sensor that works with the NXT. This robot works by adjusting its balance by almost constantly moving its wheels whenever the light sensors (mounted on the front and back) register unequal values. I tried to upload a video, but there seems to be a bug... I�ll upload one ASAP.

WALL-E

My Lego Mindstorms version of everyone�s favorite robot, WALL-E. The picture shows Mindstorms WALL-E, Lego WALL-E, and EVE. WALL-E uses the light sensor on the bottom of his body for obstacle detection using IRPD, and uses the light sensor mounted on his neck for sensing bright lights. If WALL-E sees a bright light, he assumes it is EVE, and does a dance for her. Most of WALL-E�s functions, however, require human input, since I did not want to use two RCX�s. The switches on his shoulder control his arms and door. WALL-E also includes the solar panels he uses for recharging his battery. More Pictures EDIT: I uploaded another picture of WALL-E in a different position.

SRB

SRB (Small Rover Bot) is just well, a small rover bot! It is has its ultrasonic sensor behind the wheels to prevent getting crashed in by a wall or an object. It has a sturdy swivel design that dosen�t bend as much as other swivels. It is able to turn pretty good and operates best on carpet.

NXTerrier

This is a little dog who walks like a real dog and uses one motor to controll his legs. The ultrasonic sensor makes him reverse when he comes too near an object and the touch sensor on his tail stops him from reversing into another object. Because it only uses one motor, the robot can�t turn and change direction. This makes it slightly easier to program, but less realistic. Keep an eye out in the future for I am planning on creating a much bigger version of my NXTerrier, the NXTiger in the new year which will use pieces from 2 mindstorms sets. Hopefully this one will be able to change direction as well as bend down and pic up its prey. er i mean ball...... More Pictures can be found on my NXTlog page

NXT Rover

The NXT Rover has been my most successful and sought after project of all time. This jeep is made from pieces only found in the LEGO Mindstorms NXT set apart from the wheels and the LEGO Technic Speed Computer which I bought on ebay. This was the biggest and most challenging project I have made to date and uses nearly all the pieces in the set. I worked on it non stop for a total of about 2 days until I got the shape and look that I wanted. After that it was just touching up, such as adding the 4 Bionicle pieces above the wheels and the flag above the Speed Computer. Steering And The Bumper The steering uses 2 worm gear screws and one motor. In the programs, the motor rotates 15 degrees clockwise to turn left, and 15 degrees anti-clockwise to turn right. I had some difficulties when it came to giving the wheels enough room to move without hitting the body of the Rover. I altered the height of the 4 Bionicle pieces and was able to make some difference, but the car can still only turn in large circles. The rear bumper uses the touch sensor to register a bump from behind. I expanded its range by putting a long beam onto it and the added the rubber pieces to cushion it a bit. The front bumper is just there to look good! More Pictures can be found at my Brickshelf gallery: Still no instructions im afraid.

4WIDR

4 Wheel Individual Drive Robot (4WDIR) Pros Won�t jam if one wheel is locked up. Kicked up dust or soil mounds passed by the movoing gears jam up the gears and destroy gears. It is bigger It has much more space between the back and front wheels allowing for slipping or slowly crawling down steps. Can somewhat operate even if one brick loses power. Low Center of Gravity Don�t rely on gears than can be jammed with some soil. Cons Hard to syncronize Lower ground clearence Power Hog Can�t spin on a dime (for now) Hard to replace batteries Hard to make programs with multiple sensors. Even though the 40 tooth gears don�t seem to get much traction, they are good enough to work on the ground. The reason I didn�t want the robot to use normal wheels is because of carpet and actual rough terrain where rubber ain�t going to get traction to loose soil on a hill while the gears get plenty of traction by driving in their teeth. I got my inspiration from Voyager GPS robot. I was trying to accomplish a pivot robot but I couldn�t because my wheels were to small to build a big joint. I�m currently trying to improve it so it can fall or slip down carpet stairs without jamming or destroying itself

Propeller Bot V4

OK you might be thinking can I count? Well yes because Propeller Bot V3 is a highly classified fast racer type bot. Well this robot is slower than V3 and is different in many different ways. It is able to cruise faster than V2 and has a 4 blade. An 8 blade propeller would not be likely made. Non-LEGO pieces: Propeller BTW The thing the minifig is holding is the light torch used by ground crews to direct airplanes. Update: I was unable to load the high quality video here (6 mb) so I uploaded it to Box.net so you just need one extra mouse click. Download it here

MSAV v1 (Multi Sensor Automated Vheicle)

This actually started as my quadurped, but after many failed attempts, I decided to just make a roamer. The MSAV is able to roam around using a bumper and US sensor. The US sensor can be pointed down to see ledges. Limitations: Not good at finding ledges= keeps backing up. Not good at turning on carpet. +++++ Version Two is cancled. The HM-X12 will replace this. All three programs are required for the robot to operate. Two of them are MyBlocks. +++++

NXTAS

The NXTAS is compilation of two common NXTLOG projects: a motion detector and a rubber band gun. Although the Light Sensor is shown, it is not used. Walk past the US Sensor and WHACK! Get hit by a rubber band!

HWTD: Heavy Weight Transport Device

This robot is able to pick up the ball included with the set from a stand and move it down to another point. Because it is very heavy, it requires a lot of tension on the string. Basically, the robot hangs from a white string about a foot from the ground. A black mark from a marker is put on the string above the area where the ball is. The light sensor is placed pointing right at the string so it knows to stop when it sees the black. Upon reaching the area with the ball, it waits for a clap from the Sound Sensor. You clap when the bot stops swinging. It then grabs the ball and continues to the next area with black string, where it can drop the ball into a basket, other stand, etc. See program code with comments! My robot was inspired by the Mayan Adventure StringBot created by JimK_NXTStep.

RSSD: Rather Slow Scanner Device

Modeled after TheFoxx�s Scanner1, this scanner uses only pieces from the NXT set. (except for string). The qualitity is pretty good, but is scans only a 126-198 degree area. (about the size of the START on the Test Pad.) The scanner head is just a light sensor on a slider. The motor shown in picture 3 with the string drives the head along the track. The head stops 63 times every 2 degrees. On every stop, a reading is taken. After the 63 stops, the head moves back until it hits the touch sensor. It goes like that because, if you tell it to just go back 126 degrees, eventually the motor will get off of calibration. After the whole line is recorded, the entire unit moves back 2 degrees for the next line of pixles. The pixel color (white or black) is determined by the light level recorded. All together, the unit will show 99 x 63 pixels. This program uses a large number of loops.

HM-X12

I hope both pics work this time! The HighMobilitity Experimental number 12 features a light-weight design, a roll cage that doubles as an expansion rack, and another expansion port in the front (see picture 2). Feel free to use it in any of your robots, just please give me credit. These pictures are from a three-deminsonal editor, so better pics can be provided if you want. I check my projects almost every day, so questions will be answered quickly. Happy building!

Rotation Time Comparison Version 2

This is Version Two of my Rotation Time Comparison Program. This one has a large set of updates against the other one. It takes an intial reading and compares it to later readings to see if the motor slips or has strain. You can use one at a time. Use like a motor block. The timer carrying the same number as the motor will be used. You can control: Motor Num. (also sets Timer Num.) Speed Duration Direction Sensitivity in Milli Seconds

CWR

This Center Wheel Robot has its wheels almost in the center and uses to back swivels to make sure it dosen�t topple over in sharp maneuvers. (this is like my 10th time trying posting this robot so I kinda got a little lazy on the description sorry )

Paper Strip Scanner

This is a little simple robot that scans strips of paper like morse code. It just scans the paper slowly and the light sensor reads if it is black or white and displays 1 or 0 on the screen display.

MorRb 2.0

MoRb is short for Modular Robot. I have built several robots off of the MoRb Version 2. MoRb is very stable and features an attachment connector on the front of the robot. While building this robot, I aimed for a compact body with a good anti-tip build. I didn�t get it. There is no program to this robot as it was designed to be combined with other bots.

MoRbLIFT

MoRbLIFT is my first project built off of MoRb2.0. MoRbLIFT is able to lift objects of about a half pound on its forklift. The forklift slides along the two rails running up the robot. This robot is controlled with a USB link. Design problems: The robot is top heavy when an object is on the lift, and it can tip easily. Also, I had to put some bends in the design to help distrubute weight. There was no code to this robot; it just ran from BrickCC�s Direct Control.

db2

db2 is built on a very compact strong frame and has repositionable ultrasonic and light sensors, a single motor clamp and lift mechanism, it also has front and rear bumpers which trigger a single touch sensor. The frame is as compact as possible with the three motors mounted as close as they can fit. The touch sensor and sound sensor are fitted on their side to save space. The wiring is compact yet allows access to change the batteries. The ultrasonic and light sensors are connected to the upper jaw fitted with rubber �teeth� to aid grip. The two jaws are connected to a gear train which runs down the centre of the neck. When the neck is lowered to the bottom it hits some stoppers and can�t drop any further. At this point the same gear train which lowered the neck is used to open the jaws. Linking the jaw and neck gears in this way means one motor can be used to raise and lower the sensors and mouth as well as opening and closing the jaws. Both the front and rear bumpers are connected to beams on either side of a pivot. The beam then presses the touch sensor, this means one sensor can be used to detect both bumpers. The position of the front bumper also means it can use it as a sensor to detect when the mouth is fully opened as the lower jaw presses into it. The main program running on db2 is a state machine consisting of 4 main routines; seek, approach, pickup and drop. The robot moves between states itself based on input from the sensors. There is also a calibrate program to enable the robot to store light levels of objects to pickup or to avoid, this data is saved in a text file on the NXT. There is an additional program for line following, due to the way db2 is built all that needs to happen is for the neck to rotate to a known position which lowers the light sensor to about half an inch above the ground.

Vegas Style 5-reel NXT Slot Machine

A full size fully functional slot machine using two NXT computers. The machine is built 100% from Lego parts plus paper for the reels. It is programmed in Not eXactly C (NXC) and has the following features • Automatic reset of reels to known position at startup using light sensors • European style Hold and Nudge options improve playability • Accepts only Pachinko tokens, rejects standard US currency • Password protected display of wins, profit, play count and configuration screens • Program parameters programmable on-brick via an editor • All data & configuration is saved to flash memory file between uses • Progressive jackpot, increments with play, resets when won • Play in either CASH or CREDIT mode • Realistic audio files play during play & payout • Payout tubes overflow into hopper when full

NXT BatCycle ( Batpod )

I made this bike after seeing an advertisment on T.V for the latest Batman movie,�The Dark Knight� The bike can move and turn without falling onto its� side because the wheels cover a large area of the ground. The BatCyacle is also semi-autonomous and will avoid objects using its� Ultrasonic sensor. More info is on my NXTLog page or my Blog

NXT Slot Machine 4-reel

A fully functional 4 reel slot machine using 2*NXT programmed in NXC. This machine includes some styling ideas from a 3-reel version that can be found on bouwvoorbeelden.nl and it also uses the same fruit symbols from that machine (thank you).

NXT Oil Well

This is an NXT oil well that I made. I was originally trying to make a see-saw but I changed my mind and made this simple oil well. The back wheels may look to be sticking out but it was used to counter weight the front part to relieve some load on the motor. BTW the bricks you see below the robot does not control it it is just a stand I quickly constructed.

TraxDN

Unfortunately for me, the Iron Predator treads have absolutely NO traction, so the going� is kind of slow. I made it to see what I could do with some tracks, and ended up with this. It�s pretty agile, and can turn on a dime. It is mostly rigid in design, but the front tips are a little wobbly. It can easily climb over books & such. <>

Insect Crawler 2.0

Although this crawler version has no sensors, they can easily be added. To use the program, you need at least the basic construction, plus an UltraSonic sensor. Details: ----Six Leg design ----The BASIC leg arrangement I saw a while ago on the Internet somewhere, so the design isn�t entirely my own. Pieces: ----Important: --------NXT intelligent brick --------2 NXT motors ----Misc: --------Innumerable misc. LEGO technic peices P.S. The pieces are mostly from the #8527 LEGO� NXT set, but some might be from the #4094 LEGO� CREATOR set. (The one with the monkey!) Created: 07 Jul 2007

(A)ll-around (B)all (C)aster �bot

NAME: A.B.C. Bot TYPE: ALL-AROUND UTILITY Description: ----This bot was designed with simplicity and durability in mind. The ball support was rather flimsy at first, but I fixed it. I�m going to take it apart as soon as I�m done typing this: I want to build more entries for NXTLog Challenge #3! Pieces: ----Important: --------1 NXT Intelligent brick --------2 NXT Motors ----Sensors: --------1 UltraSonic sensor --------1 NXT-style Touch sensor --------1 NXT-style Sound sensor ----Misc.: --------20+ misc. LEGO technic pieces --------1 NXT-style Plastic Ball Notes: ----The gear sticking out the front is for when the robot stops: It�s momentum makes it fall forward. The gear prevents that. ----The ball caster is my own design. ----The third motor can be added at will, as it�s not included in the design. Created: 06 Jul 2007

RoboGun T-57

A modified RoboArm T-56: ~Higher gear ratio ~ControlGrip ~Semi-Sturdy construction The ControlGrip has a Touch Sensor and a Sound Sensor. Created: 23 Jun 2007

NXT Walker Machine

I designed this walker for the NXTLog challenge #2. I designed the legs to make a circular, up/down motion, thus propelling it forward. The NXT brick is set so low for two reasons: 1) It keeps it from tipping. 2) It allows the legs to �pick up� off the ground. Picture: Front leg gearing. P.S. There is only one picture because I didn�t know the rest were blurry till after I took it apart. Created: 09 Jun 2007

Insect Crawler v1.0

It started as a slightly modified Tribot, and then I got bored and stripped it of everthing but the three connected motors, and started putting peices on. About 1.5 hours later: EUREKA! I had a four legged beast. About 2 minutes later: I was adding the 5th and 6th legs. It took forever to figure out how to get the back legs to move opposite of the ones in front of them, but I did it. Then I added the sensors, and when I finally turned it on: LOW BATTERY!! Oh well, I�ll test it more later. It�s a bit slow, but as far as I can tell, it works fine. I�ll make instructions for anybody who wants them, as soon as somebody tells me where I can find a program to make them in... No specific programming needed. I used: 3 NXT servo motors, 1 NXT intelligent brick, 1 Sound sensor, 1 Ultra Sonic sensor, and 1 Touch sensor. All peices are from the #8527 LEGO� NXT set. Created: 21 May 2007 Instructions are now definitely being constructed, but I need advice on where I can post them. If you veiwers would comment and give me ideas on that subject, it would really help! P.S. The instructions are NOT going to tell you where or how to attach the NXT Intelligent Brick, or the sensors, just so you can personallize your bot. My bot didn�t include the light sensor, because I was loaning it to an FLL friend, but don�t worry, I�m sure you�ll find room! INSTRUCTIONS: they�re now here, at http://forums.nxtasy.org/index.php?showtopic=1201, under Insect Crawler v1.0! (The instruction file(s) are also attached to this Robot Project)

PelletBot

The PelletBot was my submission to thenxtstep�s industrial challenge. This robot is able to pick up 3 pellets at a time and dump them into a bin every 5 seconds.

X-32

Expirimental version of V2 robot. This robot uses 2 bricks and a 3rd brick for scronized startup. It is not much faster than V1 and it just a bigger rock compared to V2. This robot only has a non lego propeller.

Propeller Bot V1

My V1 of my propeller bot in full lego. This was actually a very bad design with unstable motor to NXT support. But it still moves! It was actually a rock compared to my V2

Propeller Bot V2

This robot uses propellers to propel it at mach 0.0 Well this robot is the 2nd Lego robot that almost uses all lego with lego motors. I�ll thank Linus for giving me the insperation that I could improve majorly on my V1 design. Also some ideas were also from him. The propeller blades are the only non lego element. (Yes even the batteries are from lego)