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5
Minerva, a Robot with an Arm
In this chapter:
• Building Instructions
• Programming
• Directional Transmission
• Pulleys
• Mechanical Design
• Two Sensors, One Input
• Where Am I?
• Online Resources
Minerva is a mechanical marvel. Although she has the same wheel layout as Trusty, Minerva's drivetrain is radically different. In addition, she has a simple arm with a grabber, which allows her to
pick up and drop small objects. Best of all, Minerva can be built with the pieces from the RIS alone. The grabber arm is operated by a single motor. The other motor powers the drivetrain, which
moves the robot forward or spins it in place. Figure 5-1 shows a picture of this remarkable robot.
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