Snacky, a Dispenser for Astro Robot

Snacky, upon request, will drop a snack into Astro robot's "cargo bed." Astro can find an individual and deliver the snack to that person.

Astro does not have an arm or hand, but auxiliary devices such as "Snacky" can be created to load or unload items from the cargo bed.

Arduino Uno

Arduino motor shield

(2) Infrared sensor modules

Servo motor (without end stop)

DC power supply, 12 volt 2 amp

Misc. 3mm screws and nuts

Wood

Screws

3d Printed Parts

Astro robot (sort of available from Amazon.com; if they invite you to purchase) has no arm or ability to manipulate things. The robot can follow voice commands, avoid obstacles and find people very well.

Snacky is an accessory, allowing the robot to fetch snacks on command. The yellow (3d printed) piece in the cargo area tells Snacky to drop a snack (long end up) or not drop a snack (short end up). I received Astro on Saturday and completed the design and construction of Snacky by Wednesday--it's not too complex or costly (if you can access a 3d printer).

To turn the spiral "dispenser," I used a "no end stop" servo motor. Remove the four screws on the bottom of the motor. Clip the wires to the circuit board and remove the board. Remove the potentiometer (held by one small screw). Splice two wires to the motor wires, then reassemble.

I chose the servo motor because it is geared (decent torque) and easy to attach. Using 3mm screws, attach the motor to the motor mounts.

Assemble the structure as shown in the photos.

Attach the coil so that it is in the center of the assembly.

Install the IR sensors. Their sensitivity can be adjusted using a small screwdriver (a red led indicates detection). Two 1" x 3" boards (six inches long) are attached beside the coil (to keep the snacks moving outward in a straight line.

Wire according to this schematic. Load "snacky020123.ino" into the Arduino.

Astro knows my name and face--initial training.

To operate:

(1) Say, "Astro, take this to Mike." Astro will find me, come to me, and turn his cargo bed toward me.

(2) I place the yellow 3d printed piece so that the tall end is protruding.

(3) Say, "Astro, go to the charger." Astro will find the charger and back in.

(4) Snacky will detect the tall 3d printed piece (waiting a couple of seconds to make sure Astro is backed totally in place), then start the motor for the coil. When a snack falls past the snack detecting sensor, the motor will run for about .5 seconds more, then stop.

(5) When ready, say, "Astro, take this to Mike." Astro will deliver the snack to me (where ever I am), turning the cargo bay toward me to make the retrieval easy.

(6) I place the yellow 3d printed piece so that the short end is protruding. Snacky will not drop snacks unless the tall end is pointed up.