1 Equilibrium The Balancing Robot By: Kerry Scharfglass Whiz Kid

2 Special Features Balances on two wheels Turns on a dime Looks awesome Fast Whiz Kid

3 Parts List (9) 8-32 x 3/8” Screws (2) Chassis Bumpers (4) Partially Threaded Beams (2”) (2) Chassis Rails (6) 8-32 x ¾” Screws (7) 8-32 x ½” Screw (8) Keps Nuts (1) Large Plate (1) Controller (1) RF Receiver (1) Receiver Antenna Sleeve Holder (1) Receiver Antenna Sleeve (1) Yellow Telephone Wire (4) Collars with Threaded Screws (4).318” Plastic Spacers (2).182” Plastic Spacers (2) Knobby Tires (2) 3” Square Bars (2) Motor Modules (4) 6-32 x ½” Screws (2) Bearing Flats (1) Motor/Servo Module extension cable. (3) ½” Fully Threaded Beams Whiz Kid

4 Step 1-Battery Holder Parts Needed: –(4) 8-32 x 3/8” Screws –(2) Chassis Bumpers –(4) Partially Threaded Beams (2”) Whiz Kid

5 Step 1 Screw one 2” Partially Threaded Beam onto the two corners of the Chassis Bumper in the positions shown. Do the same for the other Chassis Bumper. Whiz Kid

6 Step 2-Control Mounting Parts Needed –(2) 8-32 x ¾” Screws –(1) 8-32 x ½” Screw –(3) Keps nuts –(1) Large Plate –(1) Controller –(1) RF Receiver Whiz Kid

7 Step 2 Put the Large Plate between the Controller and the RF Receiver. Insert two 8-32 x ¾” Screws through the two holes (not the slot) on the receiver, three holes in from the short side of the Large Plate and through the slots on the controller. Tighten them down with the Keps nuts. Insert the 8-32 x ½” Screw through the center hole on the opposite side of the controller and put a Keps nut on the back. Whiz Kid

8 Step 3-Attach the Wire Parts Needed –(1) Yellow Telephone Wire Plug the telephone wire into the hole on the RF receiver and the Rx1 hole on the Controller Whiz Kid

9 Step 4-Mounting the Antenna Sleeve Parts Needed –(1) Receiver Antenna Sleeve Holder –(1) Receiver Antenna Sleeve –(1) Keps nut –(1) 8-32 x 3/8” Screw Whiz Kid

10 Step 4 Screw the Receiver Antenna Sleeve Holder into the Second hole from the right of the Controller in the bottom row. Insert the antenna into the sleeve. Push the sleeved antenna into its holder. Whiz Kid

11 Step 5-Attaching the Battery Holder Parts Needed –The two Chassis Bumpers with 2” Partially Threaded Beams in them –(4) 8-32 x 3/8” Screws Whiz Kid

12 Step 5 Use two 8-32 x 3/8” Screws to attach each of the two Chassis Bumpers to two corners on one long side of the Large Plate with the controls. The finished product should look like this  Whiz Kid

13 Step 6-Attaching the Wheel Mounts Parts Needed –(4) Keps Nuts –(4) 8-32 x ¾” Screws –(2) Chassis Rails Whiz Kid

14 Step 6 Face the long bent up edge of the Chassis Rails away from the side of the Controller with the plug holes. Screw them down to the piece that was finished in Step 5. Make sure the screws are in the ninth pair of holes up the Chassis Rail from the side opposite the Controller. Make sure both sides are in the same set of holes 3 rd and 4 th from the side of the Controller with the lights on it. The Chassis Rails are suppose to be slanted and resting on the Controller. Do the same for the other side. Whiz Kid

15 Step 7-Attaching the Motor Modules Parts Needed –(2) Motor Modules –(4) 6-32 x ½” Screws –(2) Bearing Flats –(1) Motor/Servo Module extension cable. Whiz Kid

16 Step 7 Attach Motor Module through Bearing Flat in center row of holes in the Chassis Rail, as far towards the low end as possible. Make sure the motor output shafts are facing away from the Controller. Repeat the above steps for the other side. The motor wire that cannot reach the Controller uses the extension cable; plug this into Motor Port 2 on the Controller. The other Motor Module plugs into Motor Port 1 on the Controller. Whiz Kid

17 Step 8-Making and Attaching the Axles Parts Needed –(4) Collars with Threaded Screws –(4).318” Plastic Spacers –(2).182” Plastic Spacers –(2) Knobby Tires –(2) 3” Square Bars Whiz Kid

18 Step 8 Put Collar on very bottom of a 3” Square Bar and tighten it. Next, put a.318” Plastic Spacer on the same bar and place a Knobby Wheel over the spacer. Finally, slide on another.318” Plastic Spacer. Insert this entire assembly into the final open hole on the Bearing Flat supporting a Motor Module. Between the Bearing Flat and the motor, first insert a.182” Plastic Spacer and then a Collar. Push the Square Bar all the way into the Motor Module, and slide the collar and.182” Spacer as far toward the wheel as they will go. Finally, tighten down the Collar as much as you can. Do the same for the other axle on the other side. Whiz Kid

19 Step 9-Adding Support Parts Needed –(6) 8-32 x ½” Screws –(3) ½” Fully Threaded Beams Whiz Kid

20 Step 9 Screw one 8-32 x ½” Screw into one side of all three ½” Fully Threaded Beams through the slot on top of one of the Chassis Rails. Leave them very loose. Then, loosely screw the other side of the ½” Fully Threaded Beams in through the same place on the other Chassis Rail using the final three 8-32 x ½” Screws. Tighten one side and then the other of each Fully Threaded Beam until they are firmly in place. Whiz Kid

21 Step 10-The Battery Parts Needed –(1) Battery Push the battery through the gap in the side of the robot so that it sits in the cradle made of Chassis Bumpers (It will fit). Then plug it in. Whiz Kid

22 Congratulations, You Have Finished Equilibrium! Whiz Kid