Duct Ninja

Duct Ninja is a Service robot used to guide the wires or conduit for humans inside the Pipe. You can control the motion by using the user interface on the mobile phone. Duct Ninja is a Service robot used to guide the wires or conduit for humans inside the Pipe. You can control the motion by using the user interface on the mobile phone. This adorable robot has a spherical appearance and carries a little cape in the back.

Project byTzu-Ching Wen and Chien-Chun Kal Kuo

She is 16 cm tall; the width is 16 cm and consists of two main parts: the upper body and the bottom body with four support wheels. Inside the bottom body, there are the power-driven parts; the upper body part mainly includes the circuit and the vision. The upper body has one degree of freedom. Because of limited space, the servo motor should be laid flat. Therefore we choose bevel gear to change the rotation direction in order to rotate the robot head. The Lower body has 4 auxiliary wheels. And in the middle there is power driven wheel. In the back side of the robot, there is module cap, which can be changed with customed module to carry different things. There is also a Ultrasonic Sensor which will sense the surface height in order to adjust the main wheel to better adapt to the surface. The Lower body has 2 degree of freedom. The gear A from servo motor A will rotate against the the gear B, in order to rotate the main wheel. The servo motor B is used to drive the linear axis to change the height.

This is our circuit detail and the electrical devices we use. All of our systems is controlled by Firefly in Grasshopper. This is the Firefly script in Grasshopper. We use the OSB protocol to connect the mobile phone with the robot. And made some conditions for the values to convert and remaping.

And we also have a User interface on the mobile phone to control her motion. And It is easy to manipulate. On the Left, there is an acceleration bar, you can use that with the forward button. And the speed will show in different levels of the led amount; all the led light up means that it's on full speedrunning. And the Left-Right turn button on the right bottom can be reset by pressing the R button. For the Camera vision, you can change the bottom left slider to adjust the angle. The hight led statut is to show the distance level of the power wheel.