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Me and a friend are both trying to build a millipede. Because of obvious reasons, the millipede is
NOT going to have 1000 feet!!! Instead, it's going to have 16 pager motors as feet. It will also
have 3 MicroMotors to ''bend'' towards light, and a backup sensor.
EATURES:
- 16 PagerMotors as feet
- 3 MicroMotors to seek light
- PhotoTrophic
- Obstacle avoidance
- Looks Cool!!!
MECHANICS:
Millipede is divided in four segments. Each segment (except the first one) is glued to a
MicroMotor turned upside-down. The motor shaft is then glued to the next segment. Each
segment can rotate left/right and has 2 PagerMotors on each side. This way, the millipede should
turn towards the most lighted area. I've calculated that the waist motors should turn only 30o-
45o every second or so. This means that I will need the motors to be 7-15 rpm. Candidates for
this job can be the Lego MicroMotor, Solarbotics GM or BabyGM (unless I can get some
MU915L Escaps!!!).
Weigth was a major concern since the whole bot was impulsed by pagermotors. The waist
motors should weigth no more than 70g and the body (including electronics) is
about <100g. Actually, it seems that 16 pagermotors are more than enough to move the bot!!!
ELECTRONICS:
I made up this circuit, as this is my first ''big'' BEAM creation I have no idea if it works properly.
The upper 3 Ms are the Lego MicroMotors and the lower Ms should be the 16 PagerMotors. On
the right, you can see the MicroMotors driver.
I still need to order the components (Let's just say there are not many 74**14s or 240s in Costa
Rica), so the final version may be different than the drawings. I'm also thinking about using the
Baby GMs that Solarbotics sell instead of the Lego MicroMotors.