Physical Architecture

Figure: System physical architecture

(Click to view a larger image)

The RooBot system is divided in two: the robotic platform and the remote controller as shown in the above figure. Both have a Power subsystem that includes a battery and power distribution board.

Unique to the robotic platform are the Control and Mobility subsystems. These are joined together by its same-level neighbor, the Mechanical subsystem. A microcontroller unit (MCU), an XBee wireless ZigBee transceiver, two dual motor controller boards, and three mechanical energy sensors (rotary encoder, flex sensor, and limit switch) make up the Control subsystem. All of these components are powered through the power distribution board, which is fed by the battery. The Mobility subsystem consists of change direction and jumping actuators. For change direction, motors control the motion of two wheels, one mounted on the left and another mounted on the right of the system. A Mechanical Energy Storage Device and a motor provide the means necessary for the Jumping Actuator.

A second XBee transceiver facilitates communication between the robotic platform and the controller. Input buttons commands powered by the controller distribution board and fed by the controller battery are forwarded via XBee communication to the corresponding board on the RooBot platform. The output LEDs on the controller indicate to the user the current On/Off power state.