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www.parallax.com
Forums:
forums.parallax.com
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sales@parallax.com
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support@parallax.com
Office:
(916) 624-8333
Fax:
(916) 624-8003
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(888) 512-1024
Tech Support:
(888) 997-8267
Penguin Robot Kit
(Red #27313)
(Blue #27314)
(Clear #27315)
(Black #27316)
The Penguin Robot is a precision-machined 4” tall biped. The Penguin walks forward with a tilt-stride
action and turns by sweeping both feet on the ground in opposite directions. Individual movement
segments are linked together for this robot to walk. This basic biped design functions best in the
Penguin’s small scale. The Penguin mechanics have a close-tolerance fit and are designed to provide
precise electronic control.
The Penguin’s microcontroller is an embedded BASIC Stamp2px24 module, the fastest and most powerful
BASIC Stamp microcontroller model in the Parallax lineup. The Penguin requires three hours to assemble,
after which it is a PBASIC programming challenge to exploit all of the robot’s capabilities.
Note:
This document is for Penguin Robots Rev A or Rev B.
If your robot has a "REV B" label near the 7-segment display on the
PCB, please look out for assembly instruction differences specific to
Rev B.
(Note that Penguin Robots Rev A are not labeled.)
Copyright © Parallax Inc.
Penguin Robot (#27313-27316)
v1.4 2/16/2010 Page 1 of 23
Table of Contents
1.0 Introduction................................................................................................................................. 2
1.1.
Audience ............................................................................................................................................................2
1.2.
Features .............................................................................................................................................................2
1.3.
System and Software Requirements:................................................................................................................3
1.4.
Bill of Materials ...................................................................................................................................................3
1.5.
Body Kit Mechanical Drawings ..........................................................................................................................4
2.0 Assembly..................................................................................................................................... 5
2.1.
Tools Required...................................................................................................................................................5
2.2.
Assembly Instructions ........................................................................................................................................5
2.3.
Mechanical Troubleshooting Guide.................................................................................................................17
3.0 Programming the Penguin ...................................................................................................... 18
3.1.
Programming Concept.....................................................................................................................................18
3.2.
Servo Calibration..............................................................................................................................................18
3.3.
Penguin’s BASIC Stamp 2px24 Pinout ...........................................................................................................18
3.4.
Example Programs ..........................................................................................................................................19
3.5.
Optional Compass Calibration.........................................................................................................................19
3.6.
Other Helpful Documentation ..........................................................................................................................19
3.7.
Test Code Listings ...........................................................................................................................................20
4.0 Electronics ................................................................................................................................ 23
4.1.
CR123 Batteries...............................................................................................................................................23
4.2.
Schematic.........................................................................................................................................................23
1.0 INTRODUCTION
1.1. AUDIENCE
The Penguin isn’t a beginner’s robot. The Penguin is a small desktop robot, not intended for long-distance
adventuring. The Penguin’s electronics are fully assembled and wired to an assortment of I/O devices.
Additionally, it has a fairly complex programming process which is more difficult to understand than a
two-wheeled robot. For example, Penguin’s walking steps must be linked and the compass sensor must
be calibrated. For these reasons we recommend this robot for the hobby robotics enthusiast or collector
who has an extended interest in PBASIC programming.
1.2. FEATURES
BS2px24 module chipset
CNC-machined 6061 aluminum parts available in four color schemes
(2) micro servos
Hitachi HM55B Digital Compass sensor
Blue seven-segment LED for feedback
(2) photoresistors
(2) infrared emitters and one detector
Piezospeaker in body, underneath battery pack
3-position power switch located adjacent to battery pack
FTDI 232RL mini USB programming port
(2) CR123 batteries for 6V power supply
Orange power indicator LED
(2) expansion I/O ports, with Vss and Vdd header for Ping))) distance sensor or RF modules
Copyright © Parallax Inc.
Penguin Robot (#27313-27316)
v1.4 2/16/2010 Page 2 of 23
1.3. SYSTEM AND SOFTWARE REQUIREMENTS:
PC running Windows XP/Vista, with an available USB port
BASIC Stamp Editor Software v 2.3 or higher - download from www.parallax.com/downloads.
USB VCP Drivers - these can be installed automatically via the BASIC Stamp Editor v2.3 installer,
or you may download the latest version separately from link on www.parallax.com home page.
Penguin Test and Sample Programs - test programs are included in this document; all programs
listed may be downloaded as .bpx files from Penguin product page at www.parallax.com.
1.4. BILL OF MATERIALS
Part #
Description
Quantity
1
1
1
1
2
2
2
4
1
2
4
4
12
2
4
2
1
1
1
1
2
1
1
1
1
1
2
1
2
1
Penguin Body Kit
720-27313
Red Anodized Penguin
720-27314
Blue Anodized Penguin
720-27315
Clear Anodized Penguin
720-27316
Black Anodized Penguin
Each of the above includes:
--
Body panels
--
Leg pairs attached to ankle
--
Feet
--
4-40 5/8” long standoffs, with machined flat space
Penguin Hardware Package
720-00013
Stride linkage
720-00015
2-56 threaded rod 2.5" long
710-00013
4-40 1/8" long, 0.149" diameter stainless steel shoulder screw
710-00010
4-40 1/8" long, 1/8" diameter stainless steel shoulder screw
710-00011
4-40 1/4" button socket cap stainless steel screw
710-00012
2-56 1/4" button socket cap stainless steel screw
710-00014
2-56 1/4" flathead stainless steel screws
725-00016
2-56 ball links for 2-56 threaded rod
725-00062
1/16" hex key
725-00063
0.05" hex key
725-00064
5/64" hex key
725-00067
1.5 mm hex key
725-00018
1/16" ball links for 2-56 threaded rod
Electronics
555-27313
Penguin BS2px printed circuit board
Each of the above includes:
--
BS2px24 circuit board
--
Flat white ribbon cable to connect the boards
--
Power pack board
Miscellaneous
700-00064
Parallax dual-head screwdriver
752-00003
CR123 Batteries
805-00010
USB A to Mini B programming cable
900-00014
Grand Wing Naro standard servo
700-00063
Drill bit, #55
Missing parts?
Your Penguin experience should be nothing short of complete success and
satisfaction. If you encounter a missing part contact us immediately and we’ll put it in the mail for you.
The best way to do this is by e-mail to sales@parallax.com, or you can call us at (888) 512-1024.
Copyright © Parallax Inc.
Penguin Robot (#27313-27316)
v1.4 2/16/2010 Page 3 of 23
1.5. BODY KIT MECHANICAL DRAWINGS
Copyright © Parallax Inc.
Penguin Robot (#27313-27316)
v1.4 2/16/2010 Page 4 of 23
2.0 ASSEMBLY
2.1. TOOLS REQUIRED
The Penguin kit includes a portion of the tools required to build the robot (the hex keys, drill bit, and
screwdriver). You will need to provide these additional tools to finish assembly, which are not included in
the kit:
Small pliers
Ruler or calipers
Handheld drill, small drill press, or a vise
Small adjustable crescent wrench (or 3/16” socket)
Safety glasses
Safety first!
Taking basic safety precautions is absolutely necessary when building a Penguin. The
assembly process includes several steps where you will be exposed to danger. You will be using a
sharp drill bit to enlarge a tiny hole, and tiny pieces may fly. You will be pressing ball joints together,
where a small slip can puncture your skin. These dangers are minimized by wearing safety glasses
and using the right tools for the job.
2.2. ASSEMBLY INSTRUCTIONS
Step 1: Attach standoffs to servos
Connect (4) of the 4-40 1/4" button socket cap stainless steel screws to the middle of the 5/8” 4-40
standoffs. The standoffs have a machined flat space in the middle against which the servo tab will be
seated when the screw is tightened. Press the standoffs against the servo body when tightening the
screws. This will ensure proper spacing when the servos are mounted in the Penguin body panels.
Copyright © Parallax Inc.
Penguin Robot (#27313-27316)
v1.4 2/16/2010 Page 5 of 23
