Assembling WiMo NXT 

Building WiMo NXT 

Caster Wheel

1. Take two of the small 6-hole pully wheels and sandwhich them together by putting a #3 (#3 is from the back of the NXT intstruction manual where it describes the pieces) "plus-rod" through the center. 
2. find 2 grey 5-hole beams and light grey 2-hole piece with the 4 grey rivets (top left photo).  You should be able to put the #3 "plus-rod" that went through the pully wheels in one of the holes on the end and the grey 2-hole piece in the 3rd and 5th (other end) holes. 
3. Then find the 2 black pieces that have the plus-holes on the top and a single round hole going through the middle side. 
4. On one of the black pieces, attach 2 of the blue rivets (plus on one end, round rivet on the other) like shown in the lower right of the first pic above.
5. Attach one blue rivet to the other black piece and a #5 plus-rod like pictured
6. slip a small (single size) plus-cap on the plus-rod to keep the rod from slipping
7. Now connect that black piece to the 2-hole light grey piece used with the pully wheels.
8. Slip the 1st black piece (with the two blue connectors) onto the #5 plus-rod and finish it with a double-size plus-cap.
9. You should now have the caster-wheel shown in the second photo.

Wheels

1. Build the wheel using the parts above.  You'll use a #6 plus-rod, a single and double cap, one of the wheels, and a motor.
   
   
2. Fully Assembled Wheel
   
   
3. Attach 2 7-hole beams like so to the brick.  
   
   
4. Attach a 9-hole beam to the ends of the 7-hole beams like so:
   
   
5. on the LCD (of the brick) side of the 9-hole beam, place two black rivets like so (straddling the rivet you used to connect it):
   
   
6. Attach the wheel like so to the 9-hole beam
   
   
7. Now do the same thing for the wheel on the other side
   
   
8. Bottom view of both wheels connected:
   

Support beams and the caster

The current layout is a bit flimsy, so let's add some support and then the caster.  From now on I'll consider the back of the bot the side of the brick where the motors plug into (also the side the LCD is closest to)

1. Find a dark grey 2-hole and 1-plus piece and attach 2 black rivets to it (like below)
   
   
2. Attach it near the wheel like so:
   
   
3. Do the same for the other side and then attach a blue rivet to each of them using the plus side of the rivet.
   
   
4. Connect a 13-hole beam to the blue rivets like so.  This beam is for support.
   
   
5. Connect a 15-hole beam to the backs of the motors for support like so
   
   
6. Now connect a 13-hole beam to the 15-hole beam like so (using the black rivets in the positions shown below)
   
   
7. Now you can turn the bot over and attach the caster we made earlier in the center of the 13-hole beam we just attached. 
   
   
8. In the front of the bot, attach a right angle piece to the motors
   
   
9. Next attach a 3-hole beam to the other end of the right angle pieces
   
   
10. Attach a 15-hole beam to the 3-hole beams like so:
    

Now we have some good stability for the motors to hold the brick (and later a phone)

Rotating Platform

The hardest part of building Wimo using Legos was getting the motor in the correct place for the rotating platform.  There are probably better ways of doing this, but this is what I came up with.  Most of the pieces that may seem unnecessary are most likely there to support the motor hovering over the brick.  Feel free to modify as you like.

1. On top of the right angles we just attached attach a 9-hole beam like so:
   
   
2. On top of the 9-hole beams, attach a 7-hole beam so that the front most edges are flush like so:
   
   
3. Time for more supports! You'll attach two 15-hole beams across our 7-hole beams we just attached.
   
   
4. After attaching both 15-hole beams, it should look like this in the front of the bot
   
   
5. Now we'll work to attach the platform motor.  We'll only be working on the right side of the bot (if it facing you like the photos).  Attach 2 black rivets in the holes of the 7-hole beam shown below.
   
   
6. Attach a 6x3 L beam to those black rivets. 
   
   
7. Ok, leave that for now, and let's prepare the motor for attaching.  Get the 3rd motor and attach a blue and black rivet like so
   
   
8. Attach the end of the 3x4x7 beam like so.  you'll use the plus end of the blue rivet in the end.
   
   
9. Attach 2 black rivets to the front motor mount 
   
   
10. Attach a 3x5 L beam
    
    
11. Attach two black rivets like so to the L-Beam.  Find an identical L-Beam because you are going to stack it on top of the other one
    
    
12. Like So
    
    
13. Ok, it is now time to attach the motor.  Place 4 black rivets on the 15-hole beams like so:
    
    
14. Attach the black rivets to the L beam and 3x4x7 beam we attached to the motor.  All of these beams help to support the motor.
    

The Platform

The only part I didn't make out of Legos was the platform itself.  I did attach it via Legos, however.  Feel free to create a platform out of pure Legos if you'd like of course.  The SDK CD is part of Wimo's character :)

If you have an extra Windows Mobile SDK (or any other cd/dvd), then you can create the platform that the Windows Mobile device sits in.  The posts are spaced enough to fit whatever device you are using.  Use 2.5" Aluminum risers for the posts and attach like so.  The tin foil hanging off of the side is used to start the platform facing in the correct direction.  The black rivets are double length rivets and are 7 "holes" of a beam wide and would go in hole 1 and 7 of that beam if we were to use a 7-hole beam (which we don't).

Platform Attachment

This is the all Lego attachment used to attach the platform cd to the bot.

1. This is what it will look like (you can see the double length rivets on top) when you don't have the CD attached
   
   
2. Here are the pieces you will need.  Those are 9-hole beams
   
   
3. Attach rivets to the 9-hole beams like so
   
   
4. Attach the L-beams like so.  These help to give the CD support
   
   
5. Flip it over and attach the beam-rivets like so.  the one with the extra rivets parallel to the platform is there mainly for support.
   
   
6. You should now be able to attach the platform base to the motor like so (using the rivets that were perpendicular to the base)
   
   
7. Another view of the Platform Base and the double length rivets used to attach the CD.
   

Sensors

Here are some of the sensors that i have put on WiMo NXT.  I have really just began to experiment with these and figure out the best place for them.  Do what you like :)

1. Ultrasonic sensor goes in the front.  Attach 2 black rivets to the 15-hole beams like so:
   
   
2. Attach a 2 hole rivet piece to the ultrasonic sensor
   
   
3. Like So
   
   
4. And then attach to the black rivets through the 2 holes of the piece you just attached to the ultrasonic sensor
   
   
5. The Light sensor is used to calibrate the Platform to face forward. place 2 black rivets to the left (when the bot is facing you) of the ultrasonic sensor
   
   
6. Attach a 9-hole beam to the rivets
   
   
7. Attach a right angle piece to the light sensor
   
   
8. Like so:
   
   
9. Attach the light sensor to the 9-hole beam (there are 2 empty holes on the left and then the first rivet from the right-angle piece)
   
   
10. I don't use the bump sensor in the best way yet.  i just have it attached to the back of Wimo and a #7 or #5 plus-rod attached to it.  Attach 2 rivets to the bot like so
    
    
11. And then you can attach the bump sensor.
    

All Done!

Well, you still have to hook up all the wires.  I used the standard ports for all of the inputs.  I have the left wheel plugged into port C, right wheel into B, and the platform into A.

Again, please feel free to deviate from my tutorial.  They are Legos afterall and are made to experiment with!  As always, if you build a WiMo with the Lego Mindstorms, send me a photo and a short description and i'll post it on the site!