[sci.electronics] Heathkit Hero-2000 robot

baker@wbc.enet.dec.com (01/09/91)

-Message-Text-Follows-
From: baker@wbc.enet.dec.com
Newsgroups: misc.forsale
Subject: Heathkit Hero-2000 robot
Date:  8 JAN 91 12:58:56    
Distribution:  usa
Organization:  Digital Equipment Corporation
-Message-Text-Follows-

	Heathkit Hero-2000 robot (the big one), with arm, recharger.

	Highlights:

	8088 CPU with 64K RAM (exapndable on motherboard), enhanced 
	BASIC in ROM.  Additional slots are available in the system
	box for expansion boards, although it uses a non-standard
	bus.

	Uses 11 8042 slave processors to control movement and process
	sensor data.

	Two sonar transducers:
		One fixed, facing forward in the base.
		One rotating, 360 deg field of view in the head (8042
		 slave provides 24 15-degrees bearings).  Measures
		 distance from 2 inches to about 10.5 feet.

	Light sensor:
		Rotating, head-mounted, gives 255 light level readings,
		in 24 15-degree bearings.

	Sound Sensor:
		Fixed, forward facing, 255 sound levels.

	Temperature sensor:
		Measures ambient temps from +60 to +90 deg F.

	Sound output:
		Voice/music/sound-effects output is based on the
		263A sound chip; provides four duration settings,
		16 speech rates, 4096 inflection levels, 16 amplitude
		levels, and 8 articulation rates.

	Base has zero-turning radius.  Each drive wheel has it's own
	closed-loop speed control; robot can move at speeds ranging from
	3.8" per second to a zippy 16" per second.  Maximum pulling force
	is 26 pounds.

	Arm has five degrees of freedom.  Closed-loop position and speed 
	control for each joint.  Gripper uses a patented force-sensing
	algorithm to maintain constant force, or it can be closed to a
	specific distance.  Maximum jaw opening is 4.375", maximum closing
	force is 3.75 pounds.

	Programming is performed either with a built-in keypad (tedious),
	or through a standard RS-232 connector attached to a terminal or
	a PC.  The unit comes with a built-in BASIC language system that's
	been enhanced with commands to control the robot and its sensors.

	Measurements: 32.4" H x 22.5" W x 16.5" D    weight including
	storage battery is 78 pounds.

	Runs for about 6 hours on a single charge (depending on what
	it's doing, of course).  Has a battery-preserving "sleep" mode
	that can be entered under software control.  Comes with recharging
	station.

	Includes all technical info, programming manuals, schematics, 
	PAL equations, parts lists, etc.  Technical support from Heathkit 
	may be spotty, since they no longer sell the kit.  Everything 
	works, although the arm may need to be run through its alignment 
	procedure (part of the ROM routines).

	Asking $1500 plus freight charges for the whole thing.  

	This is a great machine for anyone interested in learning 
	about robotics.  It would also make a fine addition to any
	EE department's lab.  A fine piece of hardware at an unbeatable
	price.


	Art Baker 	e-mail: baker@wbc.enet.dec.com
			voice:  (202)462-1423 (leave a message)
			(This is the Washington, DC metro area.)