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.)