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Part 6—Computers and Electronic Control
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Part 6—Computers and Electronic Control
by Gordon McComb
Robot Builder's Bonanza, 4th Edition, 4th Edition
Cover Page
Robot Builder’s Bonanza
Copyright Page
Contents
Acknowledgments
Photo and Illustration Credits
Introduction
Part 1—The Art and Science of Robot Building
Chapter 1—Welcome to the Wonderful World of Robotics!
What the Adventure Holds
Why Build Robots?
The Building-Block Approach
Lower Costs, Better Bots
Skills You Need
Do It Yourself, Kits, or Ready-Made?
Thinking Like a Robot Builder
Chapter 2—Anatomy of a Robot
Stationary versus Mobile Robots
Autonomous versus Teleoperated Robots
Tethered versus Self-Contained Robots
So, What’s a Robot, Anyway?
The Body of the Robot
Locomotion Systems
Power Systems
Sensing Devices
Output Devices
Where the Word “Robot” Comes From
Chapter 3—Getting Parts
Local Electronics Stores
Online Electronics Outlets
Using FindChips.com to Locate Parts
Specialty Online Robotics Retailers
Hobby and Model Stores
Craft Stores
Hardware and Home Improvement Stores
Samples from Electronics Manufacturers
Finding What You Need on the Internet
Shop Once, Shop Smart
Haunting the Surplus Store
Getting Parts from Specialty Stores
Scavenging: Making Do with What You Already Have
Getting Organized
Part 2—Robot Construction
Chapter 4—Safety First (and Always)
Project Safety
Battery Safety
Soldering Safety
Fire Safety
Avoiding Damage by Static Discharge
Working with House Current
First Aid
Use Common Sense—and Enjoy Your Robot Hobby
Chapter 5—Building Robot Bodies—the Basics
Picking the Right Construction Material
In Review: Selecting the Right Material
Robots from “Found” Parts
Basic Tools for Constructing Robots
Optional Tools
Hardware Supplies
Setting Up Shop
Chapter 6—Mechanical Construction Techniques
First Things First: Eye and Ear Protection
Plan, Sketch, Measure, Mark
Drilling Holes in Things
Cutting Things to Size
Using Portable Power Tools
Getting Work Done Fast with Air Tools
Chapter 7—Working with Wood
Hardwood versus Softwood
Planks or Ply
The Woodcutter’s Art
Chapter 8—Build a Motorized Wooden Platform
Making the Base
Building and Attaching the Motors
Building and Mounting the Wheels
Attaching the Ball Caster
Using the PlyBot
Variations on a Theme
Chapter 9—Working with Plastic
Main Kinds of Plastics for Bots
Best Plastics for Robotics
Where to Buy Plastic
The Ins and Outs of Rigid Expanded PVC
How to Cut Plastic
How to Drill Plastic
Making Plastic Bases
Making Plastic Frames
How to Bend and Form Plastic
How to Smooth the Edges of Plastic
How to Glue Plastic
Using Hot Glue with Plastics
How to Paint Plastics
Household Plastics for Bot Constructions
Chapter 10—Build a Motorized Plastic Platform
Making the Base
Attaching the Motors
Fitting the Wheels
Attaching the Ball Caster
Using the PlastoBot
Altering the PlastoBot Design
Chapter 11—Working with Metal
All About Metal for Robots
Measuring the Thickness of Metal
What’s This about Heat Treatments?
Where to Get Metal for Robots
Recap of Metals for Robotics
Metal from Your Home Improvement Store
Metal from Craft and Hobby Stores
The Metalsmith’s Art
Chapter 12—Build a Motorized Metal Platform
Making the Base
Using the TinBot
Chapter 13—Assembly Techniques
Screws, Nuts, and Other Fasteners
Brackets
Selecting and Using Adhesives
Chapter 14—Rapid Prototyping Methods
Selecting Lightweight Robot Materials
Cutting and Drilling Substrate Sheets
Rapid Construction with Semipermanent Fasteners
Chapter 15—Drafting Bots with Computer-Aided Design
Making Drilling and Cutting Layouts
File Formats for Vector Graphics
Using Laser-Cutting Services
Producing “Quick-Turn” Metal and Plastic Prototypes
Chapter 16—Constructing High-Tech Robots from Toys
Erector Sets
Fischertechnik
K’NEX
Other Construction Sets to Try
Construction with Snap-Together Components
Specialty Toys for Robot Hacking
Making Robots from Converted Toy Vehicles
Chapter 17—Building Bots from Found Parts
A Dozen Ideas to Get You Started
Experimenting with “No-Cut” Metal Platform Designs
Using Wood and Plastic Samples
Keep Your Eyes Peeled and Your Tape Measure Out
Part 3—Power, Motors, and Locomotion
Chapter 18—All about Batteries
An Overview of Power Sources
Batteries for Your Robots
Understanding Battery Ratings
Recharging Batteries
Robot Batteries at a Glance
Common Battery Sizes
Increasing Battery Ratings
Chapter 19—Robot Power Systems
Power and Battery Circuit Symbols
Using a Premade Battery Pack
Making Your Own Rechargeable Battery Pack
Using Battery Cells in a Battery Holder
Best Battery Placement Practices
Wiring Batteries to Your Robot
Preventing Reverse Battery Polarity
On the Web: How to Solder a Barrel Plug onto a Battery Holder or DC Wall Transformer
Adding Fuse Protection
Providing Multiple Voltages
Regulating Voltage
Dealing with Power Brownouts
Battery Voltage Monitors
Chapter 20—Moving Your Robot
Choosing a Locomotion System
Locomotion Using Wheels
Locomotion Using Tracks
Locomotion Using Legs
Locomotion Using Other Methods
On the Web: Managing the Weight of Your Robot
Chapter 21—Choosing the Right Motor
AC or DC Motor?
Continuous or Stepping Motor?
Servo Motors
Motor Specs
Testing Current Draw of a Motor
Dealing with Voltage Drops
Avoiding Electrical Noise
Chapter 22—Using DC Motors
The Fundamentals of DC Motors
Reviewing DC Motor Ratings
Controlling a DC Motor
Motor Control by Switch
Motor Control by Relay
Motor Control by Bipolar Transistor
Motor Control by Power MOSFET Transistor
Motor Control by Bridge Module
Controlling the Speed of a DC Motor
Bonus Projects: Interfacing to Motor Bridge Modules
Chapter 23—Using Servo Motors
How R/C Servos Work
Control Signals for R/C Servos
The Role of the Potentiometer
Special-Purpose Servo Types and Sizes
Gear Trains and Power Drives
Output Shaft Bushings and Bearings
Typical Servo Specs
Connector Styles and Wiring
Analog Versus Digital Servos
Electronics for Controlling a Servo
Using Continuously Rotating Servos
Modifying a Standard Servo for Continuous Rotation
Using Servo Motors for Sensor Turrets
Chapter 24—Mounting Motors and Wheels
Mounting DC Motors
Mounting and Aligning Motors with Aluminum Channel
Mounting R/C Servos
Mounting Drivetrain Components to Shafts
Mounting Wheels to DC Gear Motors
Mounting Wheels to R/C Servos
Attaching Mechanical Linkages to Servos
Drivetrain Components for Robotics
Using Rigid Flexible Couplers
Working with Different Shaft Types
Everything You Always Wanted to Know about Gears
Chapter 25—Robot Movement with Shape Memory Alloy
Shape Memory Alloy Comes to Robotics
Basics of Shape Memory Alloy
Using Shape Memory Alloy
Operating SMA Using a Microcontroller
Experimenting with SMA Mechanisms
Using Ready-Made SMA Mechanisms
Part 4—Hands-on Robotic Projects
Chapter 26—Build Robots with Wheels and Tracks
Basic Design Principles of Rolling Robots
Two-Motor BasicBot
Bonus Project: Double-Decker RoverBot
Building 4WD Robots
Building Tank-Style Robots
Chapter 27—Build Robots with Legs
An Overview of Leggy Robots
Selecting the Best Construction Material
Scratch Build or Parts Kits
Leg Power
Walking Gaits for Legged Robots
Build a 3-Servo Hexapod
Creating X-Y Servo Joints
Bonus Project: Build a 12-Servo Hexapod
Chapter 28—Experimenting with Robotic Arms
The Human Arm
Degrees of Freedom in a Typical Robotic Arm
Arm Types
Actuation Techniques
Build a Robotic Wrist
Build a Functional Revolute Coordinate Arm
Build a Robotic Arm from a Kit
Chapter 29—Experimenting with Robotic Grippers
Concept of the Basic Gripper
Two-Pincher Gripper
Tool Clamp Gripper
On the Web: More Gripper Plans
Part 5—Robot Electronics
Chapter 30—Building Robot Electronics—the Basics
Tools for Electronics You Should Have
Making Electronic Circuits—the Basics
Understanding Wires and Wiring
How to Solder
Using Headers and Connectors
Using Clip-on Jumpers
Good Design Principles
RoHS Demystified
Chapter 31—Common Electronic Components for Robotics
But First, a Word about Electronics Symbols
Fixed Resistors
Potentiometers
Capacitors
Diodes
Light-Emitting Diodes (LEDs)
Transistors
Integrated Circuits
Switches
Relays
. . . And the Rest
On the Web: Stocking Up on Parts
Chapter 32—Using Solderless Breadboards
Anatomy of a Solderless Breadboard
Steps in Constructing a Solderless Breadboard Circuit
Making Long-Lasting Solderless Circuits
Mounting the Breadboard to Your Robot
Tips for Using a Solderless Breadboard
Chapter 33—Making Circuit Boards
Overview of Your Primary Circuit Board Options
Clean It First!
Making Permanent Circuits on Solder Breadboards
Using Point-to-Point Perforated Board Construction
Using Predrilled Stripboards
Creating Electronic Circuit Boards with PCB CAD
Producing Arduino-Specific Boards with Fritzing
On the Web: Etching Your Own Printed Circuit Board
Using Custom Prototyping Boards
Making Semipermanent Circuits with Wire Wrapping
Effective Use of Plug-in Headers
Part 6—Computers and Electronic Control
Chapter 34—An Overview of Robot “Brains”
Brains for the Brawn
Igor, Pull the Switch!
Brains from Discrete Components
Programmed Brains
Of Inputs and Outputs
Chapter 35—Understanding Microcontrollers
All about Microcontroller Categories
Microcontroller Shapes and Sizes
Under the Hood of the Typical Microcontroller Chip
Microcontroller Programmers
All about Microcontroller Speed
Chapter 36—Programming Concepts: The Fundamentals
Important Programming Concepts
Understanding Data Types
Lucky Seven Most Common Programming Statements
Variables, Expressions, and Operators
On the Web: More Programming Fundamentals
Part 7—Microcontroller Brains
Chapter 37—Using the Arduino
Arduino under the Hood
Many Variations on a Theme
Ready Expansion via Shields
USB Connection and Power
Arduino Pin Mapping
Programming the Arduino
Programming for Robots
Using Servos
Creating Your Own Functions
On the Web: Operating Two Servos
Flow Control Structures
Using the Serial Monitor Window
Some Common Robotic Functions
Using Switches and Other Digital Inputs
Interfacing to DC Motors
Chapter 38—Using the PICAXE
Understanding the PICAXE Family
Programming the PICAXE
Core Language Syntax
PICAXE Functions for Robotics
Example: Controlling an RC Servo with the PICAXE
Example: Reading Buttons and Controlling Outputs
Chapter 39—Using the BASIC Stamp
Inside the BASIC Stamp
Stamp Alone or Developer’s Kit
Physical Layout of the BS2
Hooking Up: Connecting the BASIC Stamp to a PC
Understanding and Using PBasic
Interfacing Switches and Other Digital Inputs
Interfacing DC Motors to the BASIC Stamp
Interfacing RC Servo Motors to the BASIC Stamp
Additions in PBasic 2.5
Chapter 40—Interfacing Hardware with Your Microcontroller or Computer
Sensors as Inputs
Motors and Other Outputs
Input and Output Architectures
Interfacing Outputs
Interfacing Digital Inputs
Interfacing Analog Input
Connecting with USB
Using Analog-to-Digital Conversion
Using Digital-to-Analog Conversion
Expanding Available I/O Lines
Understanding Port Changing
On the Web: Understanding Bitwise Port Programming
Chapter 41—Remote Control Systems
Build a Joystick “Teaching Pendant”
Commanding a Robot with Infrared Remote Control
On the Web: Control by Radio Signal
Broadcasting Video
Part 8—Sensors, Navigation, and Feedback
Chapter 42—Adding the Sense of Touch
Understanding Touch
Mechanical Switch
Using a Button Debounce Circuit
Debouncing Switches in Software
Programming for Bumper Contacts
Mechanical Pressure Sensors
Experimenting with Piezoelectric Touch Sensors
Experimenting with Piezo Film
On the Web: Build a Piezo Bumper Bar
Other Types of “Touch” Sensors
Chapter 43—Proximity and Distance Sensing
Design Overview
Simple Infrared Light Proximity Sensor
Modulated Infrared Proximity Detector
Infrared Distance Measurement
On the Web: Passive Infrared Detection
Ultrasonic Distance Measurement
Chapter 44—Robotic Eyes
Simple Sensors for Robotic Eyes
Building a One-Cell Cyclops Eye
Building a Multiple-Cell Robotic Eye
Using Lenses and Filters with Light-Sensitive Sensors
Video Vision Systems: An Introduction
Chapter 45—Navigating Your Robot
Tracing a Predefined Path: Line Following
Wall Following
Odometry: Calculating Your Robot’s Distance of Travel
Compass Bearings
Experimenting with Tilt and Gravity Sensors
More Navigational Systems for Robots
Chapter 46—Making and Listening to Sound
Preprogrammed Sound Modules
Commercial Electronic Sound Effects Kits
Making Sirens and Other Warning Sounds
Using a Microcontroller to Produce Sound and Music
Using Audio Amplifiers
Sound and Music Playback with a Microcontroller
Speech Synthesis: Getting Your Robot to Talk
Listening for Sound
On the Web: More Sound Projects
Chapter 47—Interacting with Your Creation
Using LEDs and LED Displays for Feedback
Feedback via Simple Sounds
Using LCD Panels
Robot-Human Interaction with Lighting Effects
Chapter 48—Danger, Will Robinson!
Flame Detection
Smoke Detection
Detecting Dangerous Gas
Heat Sensing
Robotic Firefighting Contests
Finally, Go Out and Do!
Appendix A—RBB Online Support
You’ll Find . . .
Backup Support Site
Sources for Special Parts, Web Sites
Appendix B—Internet Parts Sources
Robotics
Electronics
Hobby
Forums and Blogs
More on the Web!
Appendix C—Mechanical Reference
Decimal Fractions
Drill Bit and Tap Sizes—Imperial
Drill Bit and Tap Sizes—Metric
Numbered and Fractional Inch Drill Bit Comparison
Fasteners: Standard (Imperial) Threads at a Glance
Comparison of Decimal Inch, Fractional Inch, Mil, and Gauge
More on the Web!
Appendix D—Electronic Reference
Formulas
Abbreviations
Letter Symbols Used in Electronics
Numbering Units in Electronics
The Six Most Common Units of Measure in Electronics
Resistor Color Coding
Wire Gauge
Index
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Chapter 33—Making Circuit Boards
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Chapter 34—An Overview of Robot “Brains”
Part 6
Computers and Electronic Control
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