Building with LEGO Mindstorms 101 -...
Transcript of Building with LEGO Mindstorms 101 -...
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Building with
LEGO®
Mindstorms® 101 AN OVERVIEW OF LEGO ® EV3
MINDSTORMS® ELEMENTS AND HOW
THEY WORK TOGETHER
UPDATED 2019
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WARNINGCHOKING HAZARD – Do NOT put the LEGO® blocks or pieces in you mouthfor any reason. Not only is it gross, they just don’t taste good.
Also no LEGO® pieces in your nose, ears, eyes or anywhere else they don’t belong.
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Hands-on Exercises Parts List
Qty Item P/N
2 Axle 5M 4211639
2 Double cross block 4121667
1 24z gear 4514558
1 8z gear 6012451
1 Axle 3M 4211815
1 Axle 4M 370526
1 Bionicle eye 4173941
1 Half bushing 4239601
1 Bushing 4227155
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Qty Item P/N
8 Friction Peg 4121715
3 Beam 11M 4562805
2 Peg 3M 4514553
2 Beam 5M 4142135
2 3x5 90 beam 4585040
2 Beam 7M 4495935
2 Cross Axle 2M 4142865
2 Technic Cross Block 2x1 4140430
2 Technic Cross Block 2x2 4162857
3 Non-friction pegs 4211807
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Introduction
• Annual production of Lego bricks averages approximately 2.16 per
hour, or about 36,000 elements per minute.
• Since 1958, more than 400 billion LEGO® pieces have been produced,
or 62 for every person in the world! (June 2008)
• There are roughly 4,200 different LEGO® elements in 53 different colors.
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Same piece, many different names
Same piece, many different colors
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LEGO® Mindstorms® EV3 Core Kit (45544)
The LEGO® Technic elements in the
Mindstorms® sets are:
Electronic elements
Beams
Pegs and axle pegs
Axles and connectors
Gears
Wheels
Decorative elements
Miscellaneous elements
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LEGO® Mindstorms® EV3 Core Kit (31313)
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Three websites the compare EV3 kit
http://robotsquare.com/2013/11/25/difference-
between-ev3-home-edition-and-education-ev3/
http://www.generationrobots.com/blog/en/2015/
02/differences-lego-mindstorms-education-ev3-kit-
ev3-home-edition/
https://www.intorobotics.com/8-major-
differences-between-mindstorms-ev3-education-
and-home-edition/
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LEGO® Education SPIKE™ Prime Set (45678)
New 3x3 biscit
New 2x4 brick has a cross axle hole
New base plate
New frames
New wheels for easy mount with motor, precise turns and improved maneuverability
New wire clips to help keep wires in check
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Releases August 2019
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LEGO® Education SPIKE™ Hub (45601)
The programable Hub features:
5x5 light matrix
6 input/output ports
Integrated 6-axis gyro
Speaker
Bluetooth connectivity
Rechargeable battery
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LEGO® Education SPIKE™ App
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SPIKE Prime’s drag-and-
drop coding
environment for tablets
and computers is based
on the popular Scratch
programming language.
https://scratch.mit.edu/
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Electronic Elements◼ INTELLIGENT BRICK ◼ DRIVE MOTORS
◼ TOUCH SENSOR ◼ COLOR SENSOR
◼ ULTRASONIC SENSOR ◼ GYROSCOPE ◼ CONNECTOR CABLES
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Intelligent Bricks History Spike Prime
Releasing August 2019
EV3
Educational released
August 1, 2013
Commercial released
September 1, 2013
NXT
Released 2006
RCX(Robotic Command eXplorers)
Released 1998
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Only these four Mindstorms® Bricks are
permitted in FLL®.
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Sensors
6008472: EV3 Touch Sensors (2)
6008919: EV3 Color Sensor
6008916: Gyro
6008924: Ultrasonic Sensor
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Touch Sensor Color Sensor Gyro Sensor Ultrasonic Sensor
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Drive Motors
6009430: EV3 Large motor (2)
6008577: EV3 Medium motor
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EV3 Large motor EV3 Medium motor
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Beams and Pegs◼ STRAIGHT BEAMS ◼ ANGULAR BEAMS
◼ FRAMES ◼ THIN BEAMS ◼ FRICTION PEGS
◼ NON-FRICTION PEGS
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Beams - Straight
Beams are measured by counting the number of holes.
Beams are available in odd numbers when counting the
holes, with one exception.
Beams start with15 holes and go down in size by two holes to
the 3 hole beam and include one even-numbered beam
with 2 holes.
The number of holes corresponds to the length of the
beam in Fundamental LEGO® Units or Modules (1M is 8mm).
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Beams - Straight
3M Beam
5M Beam
7M Beam
9M Beam
11M Beam
13M Beam
15M Beam
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Tip for determining beam size.
To quickly determine the size of the longer
beams: place a finger on the middle hole of the
beam, then you can quickly count how many
holes are on one side, double it, and add one.
1 2 3 4 5
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Specialty beams
6008527: Horizontal to Vertical (HTV) Beam 90 Degrees
6006140: Beam 1X2 with Cross And Hole
4538007: Axle and Triple Peg Cross Block
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HTV Beam 1x2 Cross and Hole Beam Axle and Triple Peg Cross Block
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Pegs and Axle Pegs
Pegs are like the nails, screws, and bolts of LEGO®
Mindstorms®, they hold things together.
Pegs fit in the holes of other part.
Two primary groups of pegs:
Friction
Non-Friction
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Pegs and Axle Pegs – Friction
4121715 4140801 42064824514553
4121715: Connector Peg - Friction
4140806: 2M Snap with Cross Hole - Friction
4514553: 3M Connector Peg - Friction
4206482: Connector with Cross axle - Friction
4184169: Ball With Friction Snap*
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Connector
Peg -
Friction
2M Snap with
Cross Hole -
Friction
3M Connector
Peg - Friction
Connector
with Cross axle
- Friction
Ball With
Friction Snap*
*Not included in the 45544 EV3 kit, but is a common piece
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Pegs and Axle Pegs – Non-friction
4211807: Connector peg
4514554: 3M Connector peg
4666579: Connector peg Cross Axle
4121715 4140801 4184169 4206482
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Non-friction connector peg
Non-friction 3M
connector peg
Non-friction
connector peg
with axle
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Identifying friction and non-friction pegs
Friction pegs have ridges that help to create friction
with the beams.
Non-Friction pegs are smooth.
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3M Connector
Peg - Friction
Non-friction 3M
connector peg
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Beams and “snap” combinations
4225033: Beam 3M with 4 Snaps
4296059: Angular Beam 90° with 4 Snaps
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AKA: H connector AKA: L connector
or Llama connector
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Using Beams and Pegs
Hands-on activity
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Extending Beams
Using two black friction pegs
connect two beams using
the two end holes of each
beam.
Test: Holding the ends of the
extended beam gently flex
it.
Result: The beam is
straight but still has some
flex.
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Extending Beams
Using the same two black
pegs with friction, overlap
the beams five holes.
Test: Holding the ends of the
extended beam gently flex
it.
Result: Structure is more
rigid.
Note: Adding additional black pegs will hold the beams together
better, but not required for strength.
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Increasing Strength by Making Wider
Using two 3M blue friction
pegs, overlap the beams five
holes. Then add an additional
beam on the pegs extending.
Result: A more ridged
structure.
Note: Alternate the direction of the 3M blue peg ridge can reduce
separation. Peg ridge can be used to help in keeping pegs in place
when removable attachments.
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Angular beams
An angular beam with three holes
before and seven holes after the
bend is a 3x7 angular beam.
3x5 90º angular beam has holes at
both ends.
2x4 90º angular beam has a hole at
one end and cross axle at the
other.
All other angular beams have cross
axles at both ends.28
7
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Angular beams
4141270: Angular Beam 4X2 90°
4211713: Angular Beam 3X5 90° (Med. Grey)
4585040 Angular Beam 3X5 90° (White)
4211624: Angular Beam 3X7
4509912: Angular Beam 4X4
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4
2
5
3
7
3
4
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Angular beams
4495412: Double Angular Beam 3X7
4112282: Technic Angular Beam 4X6
4552347: T-Beam 3X3 with Hole
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3
4
3
3
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Angular combinations
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Frames
Frames are referred to based on their shape:
O frame
H frame
Frames allow building in multiple directions and can add
strength to structures.
4539880: Beam Frame 5X7 4539880: Beam Frame 5X7
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Thin beams
Are half the width of a normal beam.
Useful for adding functions or styling to your robots.
4503417: Technic 5M
Half Beam*
4112287: Technic
Lever 3X3M, 90*6009019: Triangle
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4142236: Lever 1X4,
Without Notch
* Not part of the 45544 kit
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Structural frames
Hands-on activity
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Make a Structural Frame
Using two 11M beams, two 5M
beam, and four black pegs,
make a structural frame as
shown.
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Strength Test of Structural Frame
Hold the bottom and press
on one side of the frame.
What happens to the
frame?
HOLD
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Adding Strength to the Structural Frame
Using two 11M beams, two 3X5
90° angular beams, and six
black pegs, make a structural
frame as shown.
Hold the bottom and press on
one side of the frame.
What happens to the frame
this time?
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Reinforcing with angles
A beam angled between
the two beams will also
improve the structural
strength.
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Axles and connectors
◼ AXLES ◼ BUSHINGS ◼ CROSS BLOCKS
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Axles
Length is same as a Lego®
brick, the smallest is called a
2M axle (with groove) and
commonly red or black.
The odd number axles are
typically grey (3, 5, 7M axle).
The even number axles are
typically black (4, 6, 8M axle).
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FLL® mission kits have a variety of color axles.
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Specialty Axles
Axle with end stop (5.5 M)
Cross axle with end stop (4M and 8M)
Cross axle with end knob (3M)
6031821: Cross Axle
3M with End Knob
4263624: 5.5M
Double Cross Axle
4560177: Cross Axle
4M With End Stop
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4499858: Cross Axle
8M With End Stop
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Bushings
4239601: Cross Axle Half Bushing
4211622: Cross Axle Bushing
4560175: Double 3M Bushing
42
Bushings can be used as spacers to prevent tires from hitting beams or other structures.
Cross Axle BushingCross Axle Half Bushing Double 3M Bushing
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Cross blocks
4173668 - Cross Block 90
4121667 - Double Cross Block
4140430 - Technic Cross Block 2X1 (Mickey)
4162857 - Technic Cross Block Fork 2X2 (Minnie)
43
Cross Block 90 Double Cross
Block
Cross Block 2x1
(Mickey)Cross Block 2x2
(Minnie)
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Additional cross blocks
4210857: Cross Block 90, 3M
4502595: 3-Branch Cross Axle Cross Hole
4538007: Cross Block 3X2
44
Cross Block
90, 3M
3-Branch
Cross Axle
Cross Hole
Cross Block
3X2
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Cross blocks combinations
This cross block combination allows two beams to be
mounted smooth sides together.
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Cross blocks combinations
Using this cross block combination allows mounting
two beams at a right angle.
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Cross block combinations
This combination of cross blocks also allows mounting
two beams at a right angle.
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Tip for removing small cross axle
connector
Use long axle to push small axle through.
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601172 Brick
Separator
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Cross blocks
Hands-on activity
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Cross blocks: Hands-on parts needed
7M beams (2)
Technic Cross Block 2X1
(Mickey) (2)
Technic Cross Block Fork
2X2 (Minnie) (2)
Black peg with Friction (8)
2M Cross Axle with
Groove (2)
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Cross block building instructions
1. Align Technic Cross Block 2X1 (Mickey)
with Technic Cross Block Fork 2X2
(Minnie).
2. Insert 2M Cross Axle with Groove.
3. Repeat to make a second cross
block assembly.
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Cross block building instructions
4. Insert four black pegs into the cross
block assembly.
5. Repeat on second cross block
assembly.
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Cross blocks building Instructions
6. Place 7M beam on the pegs in
cross blocks.
7. Place second 7M beam on the
pegs in cross blocks.
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Bracing
LEGO® pieces are designed to separate when pulled.
When intentional it is called disassembly.
Sometimes assemblies pull apart unintentionally simply
sitting there or while operating. This is called structural
failure.
One solution for structual failure is bracing. Bracing can
add strength with minimum weight increase.
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Bracing uses combinations of
LEGO® parts at right angles.
Bracing – Sample 1
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Bracing
Hands-on activity
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11M beams (3 ea.)
5M beam (1 ea.)
Double cross block (2 ea.)
5M axle (2 ea.)
Black peg with friction (2 ea.)
Bracing: Hands-on parts needed
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Bracing: Hands-on
Step 1 Step 2 Step 3
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Bracing – Sample 2
Step 1 Step 2
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Bracing – Sample 2
Step 3
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Axle connectors
4107085: Angle Element, 0 Degrees [1]
4107783: Angle Element, 180 Degrees [2]
4107767: Angle Element, 90 Degrees [6]
4513174: Cross Axle, Extension, 2M
4526985: Tube W/Double Ø4.85
61
Angle Element,
0 Degrees [1]
Angle Element,
180 Degrees [2]
Angle Element,
90 Degrees [6]
Cross Axle,
Extension, 2M
Tube W/Double
Ø4.85
Axle connectors are
identified with a
number
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Gears
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Gears
Gears are rotating parts with teeth that
mesh with other parts with teeth.
LEGO® gears are identified by the number
of teeth followed by a “z”.
Most gears are 1M thick
Combination Reference: http://gears.sariel.pl/
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Gears
6012451 - Gear Wheel 8z
4177431 - Double Conical Wheel 12z
4640536 - Gear Wheel 16z
4514558 - Gear Wheel 24z
4285634 - Gear Wheel 40z
64
Gear Wheel 8z Double Conical
Wheel 12zGear Wheel 16z Gear Wheel 24z Gear Wheel 40z
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Gears
4565452 - Conical Wheel 12z
4177430 - Double Conical Wheel 20z 1M
4255563 - Double Conical Wheel 36z
4211510 - Worm gear
65
Conical Wheel 12z Double Conical
Wheel 36
Worm gearDouble Conical
Wheel 20z 1M
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Gears
Hands-on activity
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Gears
67
Gear Ratio: the difference between the rates at which the last (driven) and first (driver) gears rotate.
Driven
Gear
Driver
Gear
HANDLE
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Gears: Hands-on parts needed
24z gear
8z gear
3m axle
4m axle
5m axle
Double Cross Block
Bionicle Eye
Half-bushing
bushing
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Gears: Building instructions
1. Insert 4M axle into the 24z
gear.
2. Insert the gear assembly
through the fourth hole in
the beam.
69
4M AXLE
24Z GEAR
Step 1
Step 2
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Gears: Building instructions
3. Install bushing on the axle.
4. Install double cross block on
the axle behind the
bushing.
5. Insert the 3M axle into
the other end of the
double cross block.
70
4M AXLE
BUSHING
DOUBLE
CROSS BLOCK
3M AXLE
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Gears: Building instructions
6. Insert a 5M axle
through the half
bushing, the beam,
and the 8z gear.
7. Install the bionicle eye
on the end of the 5M
axle.
71
HALF BUSHING
8Z GEAR
BIONICLE EYE
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Gears: Build CheckDoes your project look like this?
FRONTBACK
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How is gear ration calculated?
A simple equation is used to find the ratio of your gearing system:
Number of Teeth on the Driven gear
Number of Teeth on the Driver gear
For this example:
Driven gear 8z / 24z Driver gear = 1/3 or 1:3
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How is gear ratio expressed?
Gear Ratios are expressed as fractions and can
be written a number of ways:
1 to 3
1/3
1:3 most commonly used
Remember that the driven gear will turn in the
opposite direction of the driver gear
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Gear ratio: Testing
Turn the crank slowly one
rotation and count the
number of rotation of the
bionicle eye.
How many turns did
the bionicle eye make
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Gear ratio: Testing
Switch the handle and Bionicle eye.
76
8Z GEARBIONICLE EYE
24Z GEAR HANDLEHow many turns did
the bionicle eye make
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Gear combinations
Teeth 8 12 16 20 24 36 40
8 1:1 1:3 1:5
12 3:5 1:3
16 1:1
20 5:6
24 1:1 3:5
36
40 1:1
Stable
combination
Unstable
combination
Unknown
Combination
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Gear combinations
24z to 8z (3:1)20z to 24z (5:6)24z to 24z (1:1)
http://gears.sariel.pl/
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Gears: Motion Transfer
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Motion transfer is using a circular motion action to
produce a linear motion.
What is linear motion?
How can you make linear motion using gears that turn
in circles?
LINEAR MOTION
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Motion Transfer
Hands-on activity
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Motion Transfer: Building instructions
1. Place a 5M axle in a 24z
gear.
2. Insert the 5M axle and gear
into fifth hole in an 11M
beam.
3. Insert gray non-friction peg
into a hole on gear.
4. Insert gray non-friction peg
in last hole on 11M beam
on the long end.
81
GRAY
NON-FRICTION
PEG
24Z GEAR
5M AXLE
GRAY
NON-FRICTION
PEG
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Motion Transfer: Building instructions
82
5. Insert a second 11M beam (red) third
hole on non-friction gray peg on the
first beam.
6. Insert gray non-friction peg in last
hole of 7M beam.
7. Insert 7M beam
(yellow) on gray
non-friction pegs
on gear and 11M
beam (red).
11M BEAM
7M BEAM
GRAY
NON-FRICTION
PEG
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Motion Transfer: Building instructions
83
8. Insert bushing on 5M axle
on the opposite side of
11M beam.
9. Insert double cross block
on 5M axle.
10. Insert a 5M axle into
double cross block.
5M AXLE
5M
AXLE
DOUBLE
CROSS
BLOCK
BUSHING
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Motion Transfer: Building instructions
Insert bushing on 5M
axle on the opposite
side of 11M beam.
Insert double cross
block on 5M axle.
Insert second 5M axle
into double cross block.
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Rotate the handle
(5M axle).
What happens to
the forward (red)
11M beam?
85
Motion Transfer: Testing
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Linear Motion with a motor
Adding a motor to drive
linear motion is simple.
The 24z gear and drive
motor both have three
holes.
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Gear Trains - Direction
An idler gear is one between two or more gears to change the
direction of the output axle without changing the gear ratio.
87
cv cv
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Gear Trains - Ratio
88
(1:3) x (3:1) = 3:3 or 1:1
Gear 24z
Gear 8z
Gear 24z
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Gears: Using worm gears
Worm gears can be used
to create linear motion
too. This Forklift attachment
is one example.
Rotating the gear causes
the forklift arms to travel up
and down.
Notice that the 8z gear
does not rotate.
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Caster, Wheels, and
Miscellaneous
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Caster
6023956: LEGO® Steel Ball
4610380: Power Joint
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Wheels (Tyres), Rims, and Tracks
The LEGO® Group is one of the world’s largest tyre
manufacturers.
6014648: Track
Element, 5X1.5
4634091: Rim Wide
43.2 X 26 with
6 Holes
6035364: Tyre Low
Wide 56 X 28
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4582792:
Sprocket, ظ40,7
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Simple Wheel Matching
Assembly the two wheels on an axle with a bushing in the middle.
Align the bushing with the line on a slight slope with the axle at 90° to the line.
Let the wheel assembly roll down the slope and watch if the bushing moves off the line.
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Miscellaneous
4652236 Upper Part For Turntable 28z
4587275: Wedge-Belt Wheel Ø24
6028041: Tyre For Wedge-Belt Wheel
4173941: Bionicle Eye
4563044: 2X1X3 Steering Knuckle Arm
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Upper Part For
Turntable 28z
Wedge-Belt
Wheel Ø24
Tyre For
Wedge-Belt Wheel
Bionicle Eye 2X1X3 Steering
Knuckle Arm
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Decorative elements
Are just that. Have been
used for a number of
things.
4566251 Left
Panel 3X5
4566249 Right
Panel 3X5
4541326 Left
Panel 5X11
4566249 Right
Panel 3X5
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Disassembly Time
Please take apart the project and
put the all the LEGOS® in the
plastic bag.
Remember, we need the LEGOS®
pieces for the next class.
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How many?
Take six eight-stud LEGO bricks (2x4) – how
many ways can they be combined?
With the aid of computers, the exact
number of combinations has been
calculated as 915,103,765!
Just so you know, two eight-stud LEGO bricks
can be combined in 24 different ways and
three eight-stud LEGO bricks in 1,060 ways.
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