The Head
The head unit housed our sensors and camera, and a Raspberry Pi 3 to control them.
We are using a Raspberry Pi 3 Model B for sensor control and object avoidance. We chose this device because it had WiFi and Bluetooth capability on board, and because it has large and active user base, making support much easier to find.
The chassis for the head was built out of 0.25" acrylic sheet. We chose this material for its light weight, and ease of working. On each of the four corners is a 3/8" ball caster, which allows it to roll on the ball as it moves.
To hold the head in place, we employed three 1" neodymium magnets mounted on the underside of the chassis. Their location corresponds to three magnets on the rotating plate inside the ball. Once the head is mounted on the ball, the magnets are approximately 1.5" apart, which is close enough to hold the ball in place.
We mounted the Raspberry Pi and a breadboard on the back, and the servo with the ultrasonic rangefinder at the front. The power supply is mounted to the underside of the chassis.
We are using a Raspberry Pi 3 Model B for sensor control and object avoidance. We chose this device because it had WiFi and Bluetooth capability on board, and because it has large and active user base, making support much easier to find.
The chassis for the head was built out of 0.25" acrylic sheet. We chose this material for its light weight, and ease of working. On each of the four corners is a 3/8" ball caster, which allows it to roll on the ball as it moves.
To hold the head in place, we employed three 1" neodymium magnets mounted on the underside of the chassis. Their location corresponds to three magnets on the rotating plate inside the ball. Once the head is mounted on the ball, the magnets are approximately 1.5" apart, which is close enough to hold the ball in place.
We mounted the Raspberry Pi and a breadboard on the back, and the servo with the ultrasonic rangefinder at the front. The power supply is mounted to the underside of the chassis.
The links below go into a little more detail:
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