Index
3D CAD
file formats, 158
visualizing design, 156
3D printers, 159
3-DOF wrist, 344
3M
adhesive transfer tape, 151
Dual Lock, 148
Dual Lock, for battery pack, 194
Photo Mount, 151
VHB self-adhesive tape, 150
4WD (four-wheel-drive) and 6WD locomotion, 211, 306
linked-drive, construction, 308
separate motor, construction, 307
12-Servo Hexapod, bonus project, 338
754410 motor control IC, 244
abbreviations, in electronics, 679
ABS (plastic), defined, 88
accelerometer
dual-axis, 621
experimenting with, 621
measuring tilt, 620
as touch sensor, 569
use in robotics, 619
acetal resin, characteristics, 88
Ackermann steering, 212
acrylic, characteristics, 88
acrylonitrile butadiene styrene, characteristics, 88
additive manufacturing, 159
adhesives and glue, introduction to, 136
air pressure sensor, 568
air tools, using, 68
Airtronics, connector style, 256
alkaline battery, 180
allophone, defined, 632
alloy, defined, 107
aluminum, 107
bending, 119
bracket, DC motor mounting, 268
filing, 120
painting, 120
in quick-turn manufacturing, 159
aluminum, extruded, 111
framing, 115
for motor mounting, 269
aluminum electrolytic capacitor, 394
amplifier, audio, 631
amplifying signals, 523
analog
comparator, 442
demultiplexer, 531
interfacing, 522
multiplexer, 531
sensors, 513
analog and digital R/C servos, 257, 325
Analog Devices, ADXL dual-axis accelerometer, 621
analog-to-digital conversion (ADC), 442, 436, 526
analog video
security camera, 602
sync separator for, 602
vision sensor, 602
analogWrite, Arduino programming statement, 478
And and Or operators, 458
And truth table, 458
animatronic devices, 534
annealing, metal treatment for, 110
anode (diode), 395
antistatic conductive foam, 558
ArdBot, bonus project, 475
Arduino
circuit boards for use with, 420
custom functions in programming for, 474
flow control, programming with, 476
joystick, 536
microcontroller, introduction to, 463
operating voltage, 466
pin mapping, 467
pins, using, 470
programming, general, 467
programming for switches, 479
serial monitor window, using, 477
serial servo control, 325
shield, printed circuit board layouts, 420
USB connection to, 466
USB fuse protection, 466
arm, robotic
cartesian coordinate, 342
construction sets, built from, 350
cylindrical coordinate, 342
degrees of freedom (DOF), 339
electrical actuation, 343
hydraulic actuation, 343
mobile robots, 19
pneumatic actuation, 343
polar coordinate, 341
revolute coordinate, 341
specialty kits, built from, 350
stationary robots, 19
armatures, dolls and teddy bears, 32
articulated joints in nature, 12
art tape, in line following, 604
Atmel
ATmega microcontroller chip, 463
ATmega328 microcontroller, 441
audio amplifier, 631
AutoCad, 156
aviation snips, cutting metal with, 115
AVR, serial port, programming through, 526
back EMF, 238
backing board, use when cutting wood, 78
backsaw, cutting with, 64
balance
legged robots, 319
static, 328
static and dynamic, 319
tilt sensors, 620
ball bearing construction in R/C servo motor, 255
bases, plastic, from straight cuts, 94
BasicBot, 304
BASIC language
BASIC Stamp programming, 500
PICAXE programming, 487
as programming language, 439
BASIC Stamp
integrated editor, 505
introduction to, 496
microcontroller, 430
serial servo control, 325
special programming functions, 505
batteries
amp-hour rating, 184
characteristics and applications table, 187
common sizes, 187
composition and types, 180
current rating, 184
discharge, 185
environmental concerns, 183
fuse protection, 198
increasing ratings, 189
internal resistance, 186
multimeter, testing with, 366
multiple voltages, 199
recharging, 187
reverse polarity, preventing, 197
safe use of, 44
schematic circuit symbols for, 190
selection, 182
SMA wire, with, 290
solder terminals for, 192
split power supply, 228
table of nominal voltages, 183
using polarized plugs with, 196
voltage monitors, 208
voltage rating, 183
wiring to robot, 196
batteries, polarity, 197
connectors, 197
electronic protection, 198
mechanical protection, 197
using diodes, 198
batteries, ratings
voltage, 183
batteries, recharging
fast-charge, 187
lithium-ion cells (Li-ion), 181
monitoring voltage of, 208
recharger, universal, 181
batteries, sizes, 192
batteries, types
alkaline, high-capacity, 180
nickel cadmium, nickel metal hydride, 181
lithium-ion cells (Li-ion), 181
sealed lead-acid, 182
battery holder, 193
9-volt, polarized snap, 194
for in-between voltages, 195
placement, 195
from consumer electronics device, 191
custom-made, 192
premade, 191
for R/C models, 191
rechargeable, 191
recharger table, 192
shrink-wrap, 192
battery test with multimeter, 366
bearings, 278
belt drive
aligning motors, 308
cogged, 308
plastic molded sprockets, 309
segmented chain for, 308
bendable posing wire, 32
bending metal, 119
bidirectional data communication I2C, 518
Biologically Inspired Robotics Laboratory, 217
Bioloid walking robot set, 11, 323
BioMetal shape memory alloy, 287
bipolar junction transistor (See BJT)
bipolar transistor, 239
bird’s-nest circuit construction, 417
bitmap graphics, 154
bitwise port programming, 533
BJT (bipolar junction transistor), 239
Boarduino, Arduino-compatible board, 465
BOE (Board of Education), 498
bounce, switch, 555
bracket
DC motor mounting blocks, wood and plastic, 269
DC motor mounting, metal, 268
double-sided, 324
plastic, 136
R/C servo, custom mount, 271
R/C servo, tab mount, 271
R/C servo, for walking robot, 323
using, 135
zinc-plated steel, 135
brains
hardwired, discrete components, 428
manually operated, 428
microcontroller based, 429
mini-ITX motherboard, 432
personal computer, 431
single-board computer, 430
Smartphones, tablets, PDAs, 434
USB port, connecting through, 433
variations in, 430
wireless connection, 433
branch, in programming, 449
brass, and robot construction, 108
brass bracket, DC motor mounting, 268
breakdown voltage, zener diodes, 203
bridge module
intelligent, 247
interfacing, bonus projects, 248
serial motor control, 246
broadcasting video, 543
brushed versus brushless motors, 231
BuggyBot (online content), 175
bumper bar, piezoelectric touch sensor, 568
bumper switch, 549
multiple, 551
multiplexer, 553
PISO IC, 554
priority encoder, 552
programming for, 557
bumpers, foam rubber, 32
bump switch, placement in multidirectional robot, 298
bushing, 278
bushings in R/C servo motor, 255
cable clamp, as fastener, 150
CAD (computer-aided design), 156
benefits of, 157
etchable PDF, circuit board design, 421
printed circuit board design, 418
shapes stacking order, 159
CadSoft, Eagle PCB software, 419
CA glue (cyanoacrylate adhesive), 97, 139
Caidin, Martin, author, 16
calculating capacitance and resistance, 678
calculating speed for wheel diameter, 301
Call and Return programming statements, 454
Cameron, Russell, 597
capacitance, calculating, 678
capacitors, 390
applications, 393
calculating capacitance, 678
capacitance value, 392
dielectric breakdown voltage value, 393
dielectric material, 391
dielectric material, table of, 394
microfarads, measured in, 391
for noise suppression, 200
polarized, 393
rating, capacitance, 391
rating, dielectric breakdown voltage, 391
value reference table, 392
in voltage regulation circuits, 206
Capek, Karel, 28
carbon-zinc battery, 180
cutting, 146
heavy-duty, 145
screws and nuts, using, 148
cartesian coordinate arm, 342
car-type steering, 212
Case Western Reserve University, 217
casters
ball, 303
placement, 298
selection, 303
stability, 303
swivel, 302
cathode (diode), 395
CD players, robotics parts from, 36
CdS (cadmium sulfide) photocell, 390, 591
input, interface for, 524
CDs and DVDs, as robot bodies, 171
celluloid, as early plastic, 87
Celtec, plastic, 91
central processing unit (CPU), in microcontroller, 442
ceramic, dielectric, 394
Chaney Electronics Theremin kit, 627
circuit board, 414
Arduino-specific boards, 420
cleaning, 415
dead bug wiring, 417
etchable PDF, from CAD, 421
lead-to-lead construction, 417
options for creating, 420
PCB CAD, creating with, 418
perf board construction, 416
printed, 418
proto boards, using, 422
solder breadboard, 415
stripboard, 417
wire wrapping, 422
wire wrapping tools, 423
wire wrap sockets, 417
circuit design
best practice, 377
decoupling capacitors, 200, 206, 378
resistors, pull-up/pull-down, 378
wire length, 379
circular saw, cutting with, 65
clamping and taping
clamps and vises, using, 63
glued joints, 141
clevis ends, 276
clip-on jumpers, 377
CMOS integrated circuits, and electrostatic discharge, 45
CMUcam vision sensor, 602
code block, in Arduino programming, 469
codewheel, in odometry, 609
collision avoidance, 570
color code chart, resistor, 682
combat robot, 18
relays with, 405
comments, 452
in Arduino programming, 473
in BASIC Stamp programming, 502
in PICAXE programming, 488
communicating
with lighting effects, 649
with lights, 639
with sounds, 646
text display, 646
communications, interconnectivity, 433
commutator, in DC motor, 231
compass, electromagnetic, 617
programming sensors, 619
compiling, in programming, 453
compliance, 301
components, building blocks as, 6
computer-aided design (See CAD)
computer control
hardwired, discrete components, 428
manually operated, 428
microcontroller-based, 429
mini-ITX motherboard, 432
personal computer, 431
single-board computer, 430
Smartphones, tablets, PDAs, 434
USB port, connecting through, 433
variations in, 430
wireless connection, 433
computer mice, as robot bodies, 171
conditional expressions, 449, 453
in Arduino programming, 476
in BASIC Stamp programming, 502
in PICAXE programming, 490
conductive foam, 558
connectors, 375
clip-on jumpers, 377
custom-made, male and female, 375
constants, in programming, 451
construction foam, 146
construction materials
comparison, 50
selection of, 49
selection table, 52
construction plans, basics of, 60
contact area, touch sensor, 549
contact bumper, 549
contact cement glue, 137
continuity test with multimeter, 366
continuous rotation R/C servo motor, 261
controlling outputs
with Arduino, 479
with BASIC Stamp, 502
PICAXE, 494
controlling R/C servo
with Arduino, 473
with BASIC Stamp, 508
with PICAXE, 493
coping saw, cutting with, 64
craft and hobby store, 113
robot construction, 108
corrugated plastic
as a construction material, 145
cutting, 146
counters, timers, in microcontrollers, 442
couplers, 278
flexible, custom-made, 281
ready-made, 278
rigid, flexible, 278
standoffs and threaded, 280
tubing, custom, 279
C programming language, 440
with Arduino, 467
current
limiting, interfacing for, 521
Ohm’s law, 387
sinking, 515
sourcing, 515
current draw
amp-hours, 184
brownout, 207
current sense, 244
digital multimeter, using, 199
fuse protection, 199
of motors, 222
rating of batteries, 185
stalled, DC motors, 232
voltage drop, 228
custom battery packs, making, 192
cutting
basics, 64
circles, 73
circuit boards, 416
controlling the depth, 66
creating a layout for, 152
laser cutter, 158
miter box, using, 76
square into other shapes, 73
substrate sheets, 146
tool choice and speed table, 65
wheel wells, 74
cutting techniques
for metal, 114
for plastic, 91
for wood, 72
cyanoacrylate adhesive (CA), 164
using, 139
cybernetic anthropomorphous machine (cyborg), 16
cyclops eye, construction of, 594
cylindrical coordinate arm, 342
DAGU Electronics, multiple-cell robotic eye, 597
data
input, 450
output, 450
selector, 530
storage, 433
data conversion
analog-to-digital, 526
digital-to-analog, 527
data demultiplexer, 528
data type
in Arduino programming, 470
constants, 451
expression, 451
number limits table, 451
Dave Brown Lite-Flight wheels, 299
from junkyards, 35
motor control, H-bridge, 244
from surplus, 35
dead band, in R/C servos, 260
dead bug wiring, 417
debounce circuit
software in microcontroller, 556
touch sensor, 555
decimal fractions, table of, 672
decoupling capacitor, 378
as motor noise filter, 229
degrees of freedom (See DOF)
Delrin, 88
demultiplexer (demux)
analog, 531
binary control signals, table for, 528
desktop robot, 17
relays in, 405
detracking, derailing, 317
Devantech
CMPS09 compass, 618
dielectric (capacitor) materials, 391
differential steering
4WD robot, 306
BasicBot, 304
defined, 211
switch-controlled, 234
track steering, 215
wheel traction, 300
digital multiplexer, 530
digital proportional motor (R/C servo), 252
digital R/C servos, 257
digital sensors, 512
digital-to-analog conversion, 527
digital video, 600
CMUcam, 602
Webcam, 600
Dinsmore 1490 compass, 617
Dinsmore Sensors, 617
diodes, 394
applications, 396
for battery polarity protection, 198
common anode, cathode, LEDs, 398
current rating of, 395
flyback, in MOSFET motor bridge, 243
flyback, in motor control circuits, 240
forward voltage drop, 395
incremental voltage drop, 396
laser, 395
LEDs, 396
light-emitting, 395
peak inverse voltage rating, 395
photo, 394
polarization of, 395
ratings of, 395
rectifier, 394
reverse polarity protection, 396
Schottky, 394
voltage regulation, 202
DIP (dual in-line package), 401
direct motor current measurement, 225
discharge rate of batteries, 185
discrete components, 428
distance and proximity senses, overview, 26
distance sensor
defined, 572
depth and breadth, 572
far-object detection, 572
infrared light, 580
judgment sensor, 582
position-sensitive device (PSD), 580
ultrasonic, 572
wall following, 608
DOF (degrees of freedom)
arm, robotic, 340
leg joints, 320
operating terrain, 321
wrist, 344
double-sided adhesive tape, for battery pack, 194
double-sided foam tape, using, 149
DPDT switch, for motor control, 233
drill bit
selection and use, 60
types and use, 55
drill bit and tap sizes
imperial, table of, 673
metric, table of, 674
drill chuck, 55
using, 62
drilling
aligning holes, 62
basics of, 60
controlling hole depth, 62
creating layout for, 152
plastic, 93
setting proper speed, 61
speed and bit table, 63
wood, 78
drill press, and metalworking, 117
drills, electric, 55
drive geometry, definition of, 209
drivetrain components, table of commonly used, 277
dual in-line package (See DIP)
Dual Lock, by 3M, 148
Du-Bro foam tires, 275
Duemilanove Arduino, 463
durometer, of wheel material, 299
DWG, DXF (file formats), 158
Dynalloy Flexinol, 287
EEPROM data storage, in microcontrollers, 442
electrical metallic tubing (See EMT)
electrical noise from motors, 229
electric drills, robot construction and, 55
electric light kits
incandescent, 32
low-voltage LEDs, 32
electric shock and first aid, 48
electronic circuit, ground in, 190
electronics
abbreviations used in, 679
letter symbols used in, 680
numbering used in, 680
units of measure used in, 681
electronics parts sources, list of, 670
electrostatic discharge (See ESD) emitters/detectors
layout, 606
mounting, 612
EMT (electrical metallic tubing), 113
strap for motor mounting, 269
encoders, optical
conditioning, 613
mounting, 612
multimeter, testing with, 614
in odometry, 609
quadrature, 614
resolution, 611
types, 609
end effector (grippers), defined, 19
robotic, 352
endless round belts, 277
environment settings, PICAXE programming, 487
EPS (Encapsulated PostScript), 158
Erector set, 160
gears in, 286
as robotic parts, 10
ESC motor speed controllers, 247
ESD (electrostatic discharge)
defined, 45
prevention of, 45
etchable PDF, 421
expansion board, Arduino, 465
expressions
order of precedence, 459
extension arm, 354
eye injury and first aid, 48
eye protection, 369
eyes, for dolls, teddy bears, 32
eye sensors, 590
farads, as unit of measure, 391
far-object detection, 572
fasteners
basic hardware, 57
best selection for robotics, 134
brackets, using, 135
cable clamp, 150
double-sided foam tape, 149
drive styles, 132
head styles, 131
hook-and-loop, 148
introduction to, 129
machine screws, 131
machine screws, self-tapping, 134
nuts, using, 132
plastic ties, 149
screws, wood and sheet metal, 131
semipermanent, 147
sizes, imperial and metric, 130
tape, 149
tapping threads for, 134
Velcro, 148
washers, using, 133
FDM (fused deposition modeling), 159
feedback with lights and sound, 639, 646
filing, metal, 119
fingers
flexible, 359
parallel, 355
FIRST (For Inspiration and Recognition of Science and Technology), 11
Tech Challenge kit, 11
first aid, and project safety, 47
Fischertechnik, 161
flame detection, 655
fire flickering, 656
infrared heat, 656
ultraviolet light sensors, 656
flash, burrs, metal finishing and, 119
flash program storage, in microcontrollers, 442
flat washers, 133
Flexinol (shape memory alloy), 287
flex resistor, as pressure sensor, 562
flex sensor, force-sensitive resistor, 390
flippers, locomotion with, 217
flow control
in Arduino programming, 476
in BASIC Stamp programming, 502
in PICAXE programming, 490
flowchart, in programming, 447, 487
in PICAXE, 487
flush wire cutters, 369
foamboard, 32
cutting, 146
screws and nuts, using, 148
used in rapid prototyping, 145
Foam Core, 145
foam PVC, 90
foam rubber sheets, 32
Forbidden Planet, 14
force-sensitive resistors, 390, 561
forklift, robotic, cylindrical coordinate work envelope, 342
Forrest Mims Engineer’s Notebook, 524
forums and blogs sources, list of, 671
found parts, explanation of, 170
frame
assembly, 77
constructing using metal, 116
constructing using plastic, 95
construction steps for, 76
metal materials for, 115
miter box, using, 76
from PVC irrigation pipe, 171
Frankenstein
likened to robotics, 3
nuts and bolts to keep head on, 129
Freeduino, Arduino-compatible board, 465
Fritzing, ECAD software, 420
full-bridge (motor control), 241
fused deposition modeling (See FDM)
fuse protection
multimeter, 365
resettable PPTC, 199
selection of, 199
slow-blow glass-type, 199
Futaba
connector style, 256
drive sprockets, plastic, 316
S3003 servo, modifying for continuous rotation, 264
gait (walking)
alternating tripod, 327
defined, 327
hexapod, 328
metachronal, 327
gates, defined, 236
gauge
as metal thickness measurement, 109
gear reduction, 284
gears, 277
4WD robots, 308
function, 283
gearbox, gears in, 283
introduction to, 283
reduction ratio, 284
specifications, 285
types of gear teeth, 285
gear trains, 283
used in R/C servo, 254
germanium diode, 395
global declaration, in Arduino programming, 469
global positioning satellite (See GPS)
Global Specialties EXP-350 solderless breadboard, 412
glue
construction toys, 163
cross-reference table of, 143
cyanoacrylate adhesive, 139
dots, sticks, transfer tape, 150
hot, for plastics, 98
hot-melt, 140
household adhesive, application of, 98
introduction to, 136
joints, reinforcing, 141
mounting R/C servos, 271
paper, 32
plastic bonding, characteristics table, 97
for plastics, 96
RTV adhesive, silicone-based, 164
setting and curing, 136
Shoe Goo, 164
solvent cement, application of, 97
Super Glue, 137
gm-cm motor specification, definition of, 224
Google Sketch, 155
GPS (global positioning satellite), 624
graphics programs, creating layouts with, 154
gripper
bonus projects, 359
defined, 19
plastic tool clamp, construction of, 356
robotic, 352
two-pincher, advanced, 354
two-pincher, basic, 353
two-pincher, parallel, 355
grit, defined, 79
ground, defined, 190
ground loop, prevention of, 379
GWS, S-35 continuous rotation servo, 261
hacking, of hardware
appliances for robotics parts, 35
First Alert smoke alarm, 658
mini 4WD trucks, 166
mouse, encoder wheels, 611
R/C vehicles, 166
smoke detector, 658
snowmobile, metal treads, 310
sources for gears, 286
toy extension arm, 354
toy tanks, treads, 310
hacksaw, 64
cutting metal, 114
robot construction and, 55
half-bridge, 237
Hamamatsu R2868 Flame Detector UVTron sensor, 656
hardening, metal treatment for, 110
hardwood versus softwood, 69
for BASIC Stamp, 507
MOSFET transistor, using, 242
in R/C vehicles, 166
HDPE, defined, 88
heat treating metal, 110
Heinlein, Robert, 15
Hewitt, Robin, 601
hexagon, bases, 73
Hitec
connector style, 256
HS-422, modifying for continuous rotation, 262
R/C servos, 254
hobby parts sources, list of, 670
holonomic steering, 213
Honeywell C7027 flame detector, 656
hook-and-loop fasteners, 148
hot-melt glue, 140
household glue
applying, 138
characteristics, 137
household plastics, constructing robots from, 98
humanoid robot, 320
defined, 19
hydraulic power
arm actuation with, 343
robotics use of, 24
Hyzod (plastic), 88
I2C interface, 518
IDE (integrated development environment), 467
in Arduino programming, 468
idler wheels, 278
in-circuit programming, of microcontrollers, 444
indirect motor current measurement, 226
in-field programming, of microcontrollers, 444
infrared detector
adjusting sensitivity, 573
gripper, mounting on, 573
infrared distance sensor, 580
analog or digital, 582
analog output ranging, 583
beam width, 581
coding, 584
distance judgment, 582
electrical hookup, basic, 582
working distance, 581
using, 583
infrared emitter/detector pairs, 606
infrared light proximity sensor, 572
infrared proximity detector (See IRPD)
infrared receiver/demodulator, 538
PICAXE, interface for, 538
infrared remote control, 537
DC motors, 541
operating robot, 542
universal, 537
Inkscape, 158
using for layout, 155
input
analog interfacing, 522
buffer, 521
current-limiting interface, 521
digital, 520
direct connection, 520
protection with zener diode, 522
sensors, 514
signal amplification, 523
switch, 520
input, adding more
demultiplexer, 528
multiplexer, 529
serial-to-parallel shift register, 528
integer data type, 452
dual in-line package (DIP), 401
identifying, 401
microcontroller, 402
integrated development board, 441
integrated development environment (See IDE)
internal resistance of batteries, 186
Internet parts sources, list of, 669
interrupts, in microcontrollers, 442
Inventa, gear sets, 286
invertible robot, PlyBot as, 85
iRobot Create platform, 10
IRPD (infrared proximity detector), 574
enhanced circuitry, 578
microcontroller, connecting to, 576
modulated, 574
using auxiliary microcontroller, 577
jigsaw, cutting with, 65
JohnnyRobot plastic treads, 310, 316
joint, reinforcement of, 141
joystick, 534
analog, IBM PC, 535
Arduino, 536
buttons, table for, 535
teaching pendant, 535
USB, 535
jumper wires, solderless breadboard, 409
K&S Engineering metal structural components, 116
kerf, defined, 66
K’NEX, constructions with, 163
L293D motor control IC, 244
table, 246
L298 motor control IC, 246
layout
computer programs, 154
direct, 153
paper, 153
paper, copying, 153
paper, transfer, 154
lb-ft motor specification, definition of, 224
LCD (liquid-crystal display) panel
characteristics, 647
interface types, 647
text display, 646
lead-free solder, 372
leaf switch touch sensor, 548
LED (light emitting diode), 396
in Arduino programming, 471
colors, 397
common anode, cathode, 398
feedback circuit with, 639, 641
flashing patterns, 640
forward voltage drop, 386
limiting current to, 386
multicolor, 651
as photodiode, 593
powering, 397
size, shape, output, 397
specifications, 396
LED, infrared
optical sensor, 604
resistor values, 605
LED display
feedback, 642
numerals, displaying, 642
pictures and shapes, displaying, 644
LEGO
balloon tires, 275
bricks, 88
constructions with, 163
gears in, 286
motor and component mounting, 164
Technic, rubber tank treads, 311
legs
balance, 319
brackets, R/C servo, 323
multisegment, 217
operating terrain, 321
power supply, 324
R/C servos, 324
with SMA linear actuation, 293
X-Y joint, 322
lenses and filters, using, 600
lever switch, as touch sensor, 548
Lexan (plastic), 88
library code, in Arduino programming, 469
light-emitting diode (See LED)
light feedback, 639
lighting effects, 649
bonus projects, 654
multiple LEDs, 650
superbright and ultrabright LEDs, 650
light sensor
cyclops eye, building, 594
lenses and filters, 600
light-receptive robot, 595
light spoilage, 599
multiple-cell robotic eye, 596
optical filtration, 593
photodiodes, 593
photophilic and photophobic, 596
photoresistors, 591
spectral response, 593
light spoilage, 599
with optical encoders, 613
lightweight composites, as a construction material, 51
LilyPad Arduino microcontroller board, 465
linear voltage regulation, 204
line following, 603
emitters/detectors layout, 606
optical sensors, 604
programming, 607
reflective tape, 604
liquid-crystal display panel (See LCD panel)
literal data type, 456
literals, in programming, 450
LM34 temperature sensor, 664
LM386 audio amplifier IC, 631
LM1881 sync separator IC, 602
lock washers, 133
locomotion
drive and mechanical considerations for, 209
techniques in robotics, 209
tracks, 23
wheels, 22
logical 0, LOW and HIGH, definition, 235
logic probe, 368
loop, in programming, 449, 455
Lost in Space robot, 14
Lovejoy three-piece jaw coupler, 278
Lucite (plastic), 88
Lynxmotion
arm kits, 350
Phoenix, 18
plastic treads, 310
Servo Erector Set, 10
wheel flange, 274
X-Y joints, 323
Mabuchi FA-130-size motor, 306
machine screws, 131
machine vision, 600
magnetic encoder, 609
Magnevation SpeakJet, 632
Mars Rover Sojourner, 15
mat board, as construction material, 146
math operators, table of, 457
McMaster-Carr
ball caster/transfer, 80
casters, 303
double-sided foam tape, 150
industrial-grade fasteners, 148
MDF (medium-density fiberboard), defined, 72
Meccano, 160
mechanical construction, techniques for, 59
mechanical encoder, 610
medium-density fiberboard (See MDF)
melting plastic, toxic fumes from, 45
metal
bending, 119
characteristics and applications table, 110
conduit, 113
as construction material, 51
cutting using backsaw and miter box, 116
extruded aluminum, 111
heat treatments, 110
measuring thickness of, 109
painting, 120
properties, and thickness, 109
summary of use in robotics, 107, 111
tapping holes in, 118
where to find, 110
metal, properties
alloys, 107
stress, 119
thickness, 114
metal finishing
filing, 119
painting, 120
removing flash and burrs, 119
sanding, 120
metal oxide substrate, 45
Metropolis (movie), depiction of robots in, 21
microcontrollers
Arduino, 463
Arduino, low-level programmable, 439
AVR programming, 445
BASIC Stamp, 496
BASIC Stamp, integrated language programming, 439
debounce delays, 556
form factors, 440
hardware interrupts, 442
input/output pins, 442
integrated development environment, 467
integrated-language programmable, 439, 482
low-level programmable, 439
output interface, 519
parallel interface, 516
PICAXE, 482
PICAXE, integrated-language programmable, 439
pin functions, 443
programming in-field, 444
programming languages, 446
programming limitations of, 443
programming steps, 440
programming, one-time, 444
R/C servo, controlling, 258
serial-based hardware, interfacing with, 518
serial communications, 517
serial interface, 517
SMA, actuating, 290
speed, 445
types of, 437
USB, connecting through, 525
microcontrollers, programming languages
BASIC, 439
Pascal, 440
microcontrollers, use in robotics, 437
micrometer, machinist, 109
microphone
amplifier, 635
best placement for, 635
electret condenser, 635
as touch sensor, 569
Microswitch, 548
Mims, Forrest M., III, 524
mini-ITX motherboard, 432
Mini T-bot, constructing, 172
miter box, and frame assembly, 76
MIT HandyBoard, 431
mobile robots (comparison to stationary), 13
modulated light, use in IRPD sensor, 574
modules, robotics as building–blocks, 6
Mondo-Tronics Muscle Wire, 287
defined, 241
electrostatic discharge, 45
H-bridge, 242
N-channel, P-channel, difference in, 242
switch motor control, 241
most significant bit (See MSB)
motion detection sensor, accelerometer, 623
motors
4WD robot, 307
AC, DC explained, 219
centerline drive mount, 298
common drivetrain components, 277
continuous, stepping motor explained, 220
current draw, 222
front-drive mount, 298
gear reduction, using with, 286
holes for, 267
loading, 222
linked drive or separate motors, 307
main specifications, 221
micro-miniature and Plasto-Bot, 102
mounting brackets, 268
operating voltage, 221
R/C servo, mounting, 270
servo, 220
shaft types, 282
speed, RPM, 222
Tamiya worm gear, 80
testing current draw, 224
torque, 223
motors, DC
Arduino, using with, 479
BASIC Stamp, controlled by, 507
bridge module control, 244
brushed and brushless, 231
drivetrain components to shaft, mounting, 272
ESC motor speed controllers, 247
MOSFET transistor, controlled by, 241
mounting techniques, 266
permanent magnet, 230
PICAXE, remote control, 541
pulse width modulation, 478
ratings, 232
relay controlled, 234
relay half-bridge, 237
reversible, 231
serial control, 246
speed, controlling, 247
switch, controlled by, 232
transistor, control, 239
transistor, full-bridge, 241
wheels, mounting, 273
motors, gearbox, 283
motors, R/C servo
analog and digital, 325
Arduino, 473
BASIC Stamp, controlled by, 508
controlling, 258
drivetrain components to shafts, mounting, 272
lubrication, 277
mechanical linkages, attaching, 276
modified, 261
modified, limitations of, 265
mounting, 270
PICAXE, controlling with, 493
serial controller, 325
torque ratings, 326
wheels, mounting, 274
MOVITS robot kits, 165
MP3 file sound playback, 631
MSB (most significant bit), 451
multimeter
accuracy, 365
batteries, testing, 366
continuity test, 366
functions, 365
introduction to, 363
optical encoders, testing, 614
potentiometers, testing, 389
range, selecting, manual or automatic, 364
resistor, verifying value of, 367
resistors, testing value of, 384
safeguards, 367
testing, 366
test leads and supplies, 365
using, basics, 366
multiple-cell robotic eye, 596
testing program, 597
multiplexer, 529
analog, 531
bumper switches, controlling, 553
digital, 530
multisegment legs, locomotion with, 217
Muscle Wire (shape memory alloy), 287
mux (data multiplexer), 529
My First Robot, directions to, 667
nail plate, as robot construction material, 124, 174
navigational sensor, 624
N-channel, P-channel MOSFET, difference in, 242
near-object detection, 571
netbook, used in robotics, 432
nibbler tool, cutting metal with, 115
NiCd battery, 181
nickel cadmium (NiCd) battery, 181
nickel metal hydride (NiHM) battery, 181
Nickel Titanium Naval Ordnance Laboratory (Nitinol), 287
Nitinol, 287
N-m motor specification, definition of, 224
noise, electrical
decoupling capacitors for, 200, 206
ground loops, 379
prevention of, 378
nominal battery voltage, 183
noncontact sensing, 570
nonholonomic steering, 213
nonslip surfaces, and foam rubber, 32
noxious gas
detector, 661
location, 663
specific gravity table, 663
warm-up period, 662
Nubotics Wheel Watcher, 616
numbered and fractional drill bits, table of, 675
Number Five, example robot using tracks, 215
numbering units, electronics, 680
number limits of data types, table of, 452
numeric values
in programming, 449
signed and unsigned, 451
nut drivers, robot construction and, 56
nylon, characteristics, 88
octagon, bases, 73
odometry, 609
calculating distance and speed, 610
errors, understanding, 617
pulse accumulator, 612
odometry codewheel
mounting, 612
quadrature encoding pulses, 614
reflective and transmissive, 610
resolution of, 611
ohm, 382
calculations, zener diode, 203
in measuring motor torque, 227
and resistors, 387
Oilite bushing, 255
omnidirectional steering, 214
one-time programmable microcontroller (See OTP)
operating voltage of motors, 221
optical encoder, 609
optical filtration for light sensors, 593
optical sensor
line following, 604
mounting, 612
opto-isolator, 521
order of precedence, operators, 459
Or truth table, 458
oscillation, floating voltage, 378
oscillator, voltage-controlled (VCO), 531
OTP (one-time programmable microcontroller), 444
output
motors, 514
power-handling requirements, 515
sound and voice, 515
visual indication, 515
output interface, and microcontrollers, 519
OWIKIT robot kits, 165
oz-in motor specification, definition of, 224
pads, foam rubber, 32
painting
metal, 120
plastic, 98
wood, 79
paper foil, capacitor dielectric, 394
Parallax
BASIC Stamp, 496
BOE-Bot robot kit, 429
Continuous Rotation Servo, 261
noxious gas detector, 661
Ping, 265
servo motor, modified, 124
parallel interface
communications, 435
LCD panels, 647
microcontrollers, 516
parallel-to-serial port changing, 531
parts
from craft stores, 32
from hobby and model stores, 31
from online robotics retailers, 31
parts storage
antistatic, 46
organization, 37
Pascal programming language, 440
PBasic, 496
BASIC Stamp, 500
special functions, 505
PCB (printed circuit board), 418
PC motherboard, use in robots, 430
peak inverse voltage, 395
pentagon, bases, 73
permanent magnet motor, 230
personal computer (PC)
Mini-ITX, 432
Mini-ITX motherboard, 432
netbook, mounted on robot, 432
USB port, 433
use in robots, 430
Perspex (plastic), 88
Philips head screws, 132
photocell, 390
photodiodes, as light sensors, 593
photophilic and photophobic reactions, 596
photoresist, 418
photoresistors
in fire detection, 656
line following, 605
phototransistors
flame detection, 656
light sensors 592
mounting for odometry, 613
optical sensors, 604
resistor values, 605
PIC (programmable integrated circuit), 496
08M, introduction to, 485
18M2, introduction to, 486
functions for robotics, 492
infrared proximity detector, enhanced, 578
infrared proximity detector, simple, 577
introduction to, 482
pins and legs, 483
program construction, 489
remote control, 539
serial port connection, 484
serial port, programming through, 526
piezoelectric film, 565
bend sensor, constructing, 567
leads, attaching to, 566
as mechanical transducer, 566
piezoelectric touch sensor, 563
experimenting with, 563
interface circuit, building, 564
pillow block, couplers with, 281
pin jumpers
custom, 410
solderless breadboard, 410
pin mapping, Arduino, 467
pins (inputs, outputs)
Arduino, 470
expanding, 528
PICAXE, 483
PISO (parallel-in, serial-out) IC, 532
bumper switches, controlling, 554
pitch, of gears, 285
Pitsco
X-Y joints, 323
planking (wood), use in robots, 71
plastic
bending and forming, 96
characteristics and usability table, 89
as construction material, 50
finishing, 96
frames with, 95
painting, 98
ties as fasteners, 149
varieties, 87
plastic bases, from straight cuts, 94
plastic project boxes, 171
PlastoBot
construction of, 100
design variations, 105
introduction to, 100
using, 104
Plexiglas (plastic), 88
pliers, robot construction and, 55
PlyBot
cutting and drilling, 81
introduction to, 80
using, 85
plywood
thickness table, 70
use in robots, 70
pneumatic power
arm actuation with, 343
use in robotics, 25
pneumatic shears, cutting metal with, 115
point-to-point perforated circuit board, 416
polar coordinate arm, 341
Pololu
casters, 303
DC motors, 165
FA-130-size motor, 306
miniature motors and wheels, 101
motor kits, mounting, 266
servo motor, modified, 124
polycarbonate, characteristics, 88
polyester polypropylene, as dielectric material, 394
polyethylene, characteristics, 88
polystyrene, characteristics, 88
polyvinyl chloride (PVC), characteristics, 89
port changing, 531
posing wire, bendable, 32
position-sensitive device (See PSD)
potentiometer
Arduino, wiring, 471
multimeter, testing with, 389
rating, value, 390
taper, 388
used in R/C servo motor, 253
using, 389
powder coating, 121
power MOSFET transistor, 241
power sources for robotics, review of, 179
power systems used in robots, 24
power tools, using, 67
PPTC fuses, 199
pressure angle, of gears, 285
pressure sensitivity, 548, 558
pressure sensor, 558
antistatic conductive foam, 558
microcontroller, connecting to, 560
on/off pressure pad, 561
reading resistance, 559
printed circuit board (See PCB)
priority encoder, bumper switches, controlling, 552
programmable integrated circuit (See PIC)
programming
And truth table, 458
assigning value to variable, 455
bitwise port, 533
branch, 449
bumper switches, 557
call and return statements, 454
C language, case statement, 454
code block, 469
code library, 469
comments in, 452
conditional branching, 490
conditional expression, 453
conditional statement, 449
data input/output, 450
electromagnetic compass sensor, 619
environment settings, 487
for/next statement, 454
fundamentals, 446
global declaration, 469
Go statement, 454
if statement, 453
integer, 452
languages for microcontrollers, 446
line-following robot, 607
numerical values, 449
Or truth table, 458
PBasic, 500
PICAXE, remote control, 539
PICAXE BASIC, 488
pulse counting, odometry, 614
routine, 447
Select Case, 453
simulator, PICAXE, 487
sketch, Arduino, 468
source code, 453
string, 449
strings, using operators with, 458
syntax checker, 487
ultrasonic distance sensor, 587
unconditional branching, 454
variables, 447
While/Wend statements, 455
programming microcontrollers, steps in, 440
programming, operators
And and Or, 458
math, 457
multiple, 459
order of precedence, 459
relational, 457
string, 458
proto shield, for Arduino, 465
prototype
quick-turn, 159
rapid, 144
proximity sensor
adjusting sensitivity, 573
defined, 571
gripper mounted on, 573
infrared light, 572
wall following, 608
PSD (position-sensitive device), defined, 580
pseudo-code, 446
pull-up resistor, 516
pulse accumulator, and measuring distance, 612
pulse and frequency management, 436
pulse counter
measuring distance, 612
programming for odometry, 614
pulseIn Arduino programming statement, 478
pulse width modulation (See PWM)
pushrod, 276
PVAc glue, 137
PVC
benefits of, 90
defined, 89
foam, 90
rigid expanded, 90
sheets, common thickness of, 91
as substrate, 91
weight and thickness table, 91
PWM (pulse width modulation), 252, 436, 247
defined, 244
sound produced with, 628
quadrature encoding, 615
quick-turn prototyping, 159
R2-D2 robot, 14
radio-controlled vehicles, hacked for parts, 166
radio frequency navigation sensors, 624
radio signal remote control, 543
RAM and EEPROM data storage, in microcontrollers, 442
RAM data storage, in microcontrollers, 442
rapid prototyping, 144
razor saw, cutting with, 65
RBB online support, main entry, 667
analog, digital, 257
Arduino, using with, 473
ball bearing construction, 255
basic control, 249
brackets, mounting with, 270
components used inside, 250
connectors and wiring, 256
controlling speed of, 252
dead band, 260
drivetrain components to shaft, mounting, 272
general specifications, 255
glue, mounting with, 271
horns for, 272
limiting rotation, 251
linear movement, controlling, 276
mechanical linkages, attaching, 276
microcontroller, controlled by, 258
modifying, 261
pulse, controlling by, 251
pulse duration modulation, 252
pulse width range, 252
recommended voltage, 259
screws, mounting with, 270
sensor turret, 265
serial controller, 259
transit time, 255
types and sizes, 253
rechargeable/nonrechargeable batteries, 180, 191
alkaline, 181
relational operators, table of, 457
relay
characteristics, 404
common types, 404
driver electronics, 238
motor control, 234
motor direction control, 236
motor on/off control, 235
rating, 405
specifications for, 238
remote control, 534
broadcast video, 543
infrared, 537
joystick, 534
radio signal, 543
teaching pendant, 535
telerobotics, 543
RepRap, 159
repurposing parts, 35
bicycle wheels, 299
CDs, 171
computer mice, 171
consumer electronics device, battery pack, 191
Erector set, 160
Fischertechnik, 161
flooring and countertop samples, 175
joystick, 534
K’NEX, 162
LEGO Technic, rubber tank treads, 311
metal hardware parts, 172
plastic tool clamp, 356
plumbing supplies, 176
radio-control, battery packs, 191
skateboard/inline roller skate wheels, 275
solderless breadboards, 171
storage containers, 170
from toys, 167
trash cans, 170
TV remote control, 537
wheelbarrow wheels, 300
wheelchair wheels, 299
resistance
calculating, 678
Ohm’s law, 387
resistors
calculating resistance, 678
dividing voltage, 385
fixed, 382
limiting current, 385
limiting current, Ohm’s law calculation, 388
multimeter, testing value, 367
photoresistors, 390
potentiometers, 388
power dissipation, 384
pull-up, 516
rating, unit of value, 382
series, potentiometers, 389
series connection, 385
value tolerance, 383
wattage, 384
Restriction of Hazardous Substances (RoHS), 379
reverse polarity protection, and diodes, 396
reversible motor, 231
revolute coordinate arm, 341
construction of, 345
Revolution Education PICAXE microcontroller, 483
revolutions per minute (See RPM)
rigid expanded PVC, 90
Robby the Robot (Forbidden Planet), 14
RoboRealm vision analysis software, 601
robot
first use of term, 28
(see also robots)
Robot B-9 (Lost in Space), 14
as example of robot using tracks, 215
robot bases
metal, 114
plastic, 93
wood, 72
robota, 28
Robot Builder’s Bonanza online support (See RBB online support)
robot-human interaction, 639
lighting effects, 649
robotic eyes, 590
robotic senses, overview, 25
robotics parts sources, list of, 669
robot locomotion systems, defined, 209
robot navigation, introduction to, 603
robots
hardwired, discrete components, 428
manually operated, 428
personal computer as brains, 431
single-board computer, 430
robots, programmable
microcontroller, 429
Smartphones, tablets, PDAs, 434
USB port, connecting through, 433
variations in, 430
wireless connection, 433
robot shop, ideal locations, 58
robot-to-human interaction (feedback), 639
RoHS (See Restriction of Hazardous Substances)
roller chain, 277
rotary cutter, 32
rotor, use in DC motor, 230
routine, in programming, 447
RoverBot bonus project, 306
rover robot, defined, 18
RPM (motor speed), defined, 222
calculating speed in R/C servo motor, 255
R.U.R., 28
safety
ear protection, 59
multimeter, 367
soldering, 44
sanding
metal, 120
wood, 79
sandpaper
grit and use tables, 79
plastic, for sanding, 96
sawing
basics, 64
circles, 73
circuit boards, 416
controlling cutting depth, 66
creating layout for, 152
metal, using a hacksaw, 114
miter box, using, 76
substrate sheets, 146
techniques for plastic, 92
tool choice and speed table, 65
wheel wells, 74
Scalable Vector Graphics (See SVG)
schematics
battery symbols, 190
reading symbols, 381
Schmitt trigger inverter IC, 555, 613
screwdrivers, robot construction and, 54
screws, wood and sheet metal, 131
screws and nuts, for robot construction, 57
sealed lead-acid (SLA) battery, 182
security camera, as vision sensor), 602
segmented chain, 308
segmented robots, 319
self-contained autonomous robot, defined, 15
semipermanent fasteners, 147
sensor
digital and analog, 512
heat, 664
introduction to, 512
light and vision, 590
navigation, 603
proximity and distance, 570
sound, 625
touch, 547
types, 514
sensor turret, 265
X-Y joint, 338
serial communications
Arduino, 477
interface, 435
microcontrollers, 517
serial interface
hardware, 518
LCD panels, 648
microcontrollers, 517
serial monitor window, in Arduino, 477
serial motor control, 246
serial peripheral interface (SPI), 519
serial port
BASIC Stamp, connecting to, 499
microcontroller, connecting through, 526
PICAXE, connecting to, 484
protocols, and microcontrollers, 518
serial servo controller, 325
serial servo controller (See SSC)
serial-to-parallel port changing, 531
servo (See R/C servo)
set, saw teeth, 66
shape memory alloy (See SMA)
Sharp
GP2D12 infrared sensor, 583
infrared distance-measuring module, 581
sheet metal, working with, 115
shield
expansion board, Arduino, 465
printed circuit board layout, 420
shiftOut, Arduino programming statement, 478
cascading, 533
shock and vibration sensor, accelerometer, 623
signal amplification, 523
silicon diode, 395
silicone glue, 137
silver mica capacitor dielectric, 394
Mini T-bot construction, 172
strapping T weight table, 173
single-board computer
form factors, 431
kits, 431
operating system, 430
use in robots, 430
sinking current, 515
SIPO (serial-in, parallel-out) chip, 532
siren sound effects, 627
Six Million Dollar Man, The, as cyborg example, 16
sketch
Arduino programming, 468
Arduino programming libraries, 469
skid
applications for, 303
materials, 302
stability, 302
slew rate, in R/C servo motor, 255
slotted head screws, 132
SMA (shape memory alloy), 287
actuated with batteries, 290
actuated with LM555 timer IC, bonus project, 290
actuated with microcontroller, 290
bias force, 289
composition and characteristics, 287
crimp-on connectors, 288
defined, 287
linear actuation, 293
mechanical applications, 291
terminating, mechanically, 288
smartphones, tablets, PDAs, use in robots, 430
smoke detection, 657
limitations, 661
smoke detector, microcontroller interface, 660
Sojourner, Mars rover, 15
solar power, use in robotics, 24
solder
clamp, 369
rosin flux remover, 372
silver, silver-bearing, 372
types, 372
vacuum, 372
soldering, 371
heat sink for, 372
how-to tips, 374
instructions for, 371
iron, 368
lead-bearing and lead free, 372
pencil, 368
station, 373
temperature setting, 373
soldering tools, 371
cleaning, 375
solderless breadboard, 407
circuit, constructing, 411
contact points, 408
mounting, 412
pin jumpers, 410
shield, Arduino, 465
size and layout, 408
using tips, 413
wire, connecting, 409
wire, jumper, 409
wire, length table, 409
solderless breadboard shield, 465
as robot body, 171
solvent cement, 138
Sony remote control, 538
sound amplifier, 631
sound effects, 625
kits, 627
pulse width modulation, 628
sound feedback, 646
sound files, music, prerecorded, 631
sound modules
microcontroller, controlled by, 626
preprogrammed, 625
sound, output
microcontroller use, 628
musical scale notes table, 629
sirens, warning sounds, 627
sound, playback, with microcontroller, 631
sound sensor, 634
bonus projects, 637
microcontroller, connecting to, 636
threshold, 637
sound statement, PICAXE, 629
sourcing current, 515
SpeakJet sound IC, 632
spectral response of light sensors, 593
speech synthesis, 632
speed
calculating, and wheel diameter, 301
gear use to decrease, 284
linear, calculating, 300
of motor (RPM), 222
SPI interface, 519
“Spock’s Brain” episode (Star Trek), 427
spray paints, and wood, 79
spring whisker, 550
SpringRC continuous rotation servo, 261
SPST switch, for motor control, 233
SSC (serial servo controller), 325
Star Trek, 427
Captain Pike’s limited vocabulary, 450
static and dynamic balance, 319, 328
stationary versus mobile robots, 13
steel
bending, 119
filing, 120
gauge, 135
nail plate, 124
painting, 120
robot construction with, 108
stainless, 108
tie plates, 112
tubes, pipes, and angles, 113
steering circle, defined, 298
stepping motors, 220
sticky tape, using, 149
STK500 programmer, 445
strapping T, size and weight table, 173
string, in programming, 449
stripboard, 417
Styrofoam, 145
substrates, as construction material, 144
substrate sheets, cutting, 146
surplus, getting parts from, 34
SVG (Scalable Vector Graphics), 158
switches
Arduino, 479
BASIC Stamp, 506
bumper, 551
center-off, 403
contact area of, 549
contact bumper, 549
debounce, 555
identifying, 403
leaf, 548
momentary, 402
NC (normally closed), 404
NO (normally open), 404
PICAXE, 494
poles, 402
throw, 402
as touch sensor, 548
switching voltage regulation, 205
switch motor control, 232
MOSFET, 241
symbol, variable, 488
tactile feedback, 547
tail wheel stability, 303
ball caster, 173
ball caster, for PlyBot, 84
interlock mounting, 272
Jr. toys, for hacking parts, 167
Ladder-Chain Sprocket set, 309
motor kits, mounting, 266
Remote Control Bulldozer kit, 311
Tracked Vehicle Chassis Kit, 311
Twin-Motor kit, 306
worm gear motors, 80
metal hardware plates, 174
tracks, 316
tantalum electrolytic capacitor, 394
tape measure
robot construction and, 54
using, 60
tapping
metal, 118
plastic for fasteners, 135
threads for fasteners, 134
T-bone robot, description of, 85
teaching pendant, 535
teleoperated robot, defined, 14
accelerometer, controlling with, 624
operated by, 433
video feedback, 543
Waldo, 15
wireless cameras, 544
temperature sensor, 664
temperature setting for soldering, 373
tempering, metal treatment for, 110
tethered versus self-contained robots, 15
TETRIX, Robotic Design System, arms, 350
thermopile sensor, and flame detection, 657
tilt sensor, 620
dual-axis, 621
timers, counters, in microcontrollers, 442
timing belts, 277
tin, and robot construction, 108
TinBot
construction, 124
introduction to, 122
using, 127
Toki Corp. BioMetal (shape memory alloy), 287
tool clamp gripper, plans for, 355
tools
air, 68
hand, 54
power, 67
for robot construction, 54
tooth geometry of gears, 285
torque
in digital servos, 258
gears to increase, 284
legs, lifting, 324
measurement, direct and indirect, 225
rating, running and stalled, 224
R/C servo motor, 255
servos, ratings, 326
specification, 223
wheel diameter, relating to, 300
touch sensor
accelerometer, 623
air pressure, 568
conductive coatings, 562
contact area of, 549
fabric, 569
flex resistor, 562
force, 561
introduction to, 547
piezoelectric, 563
piezoelectric bumper bar, 568
pressure, 558
switch, 548
tactile feedback, 547
wall following, 608
whiskers, 549
toxic fumes, during soldering, 44
toys, hacking, 161
tracked robot base, 311
tracks, locomotion with, 210, 215
traction
compliance, 301
detracking, 317
wheel selection for, 301
transistor, 399
connections, BJT, 400
control of motors, 239
identifying, 399
limiting current to, 385
MOSFET, 400
motor control, DC, 239
NPN, PNP, 400
rating, 399
signal and power, 399
transit time, R/C servo motor, 255
trash cans, as robot bodies, 170
treads, 309
detracking, 317
differential steering, 215
foam rubber, 32
materials, 309
plastic, 316
rubber, 316
rubber, flexible, 310
steering, 316
Tamiya, 311
tank steering, 216
tracked robot base, 311
tricycle steering, 213
Trinity College Fire Fighting Contest, 665
TurboCAD, 156
two-part epoxy, applying, 139
two-pincher gripper, construction plans for, 353
two-wire interface, 518
ultrasonic distance sensor, 572, 585
programming, 587
specifications, 588
time-of-flight calculation, 586
using, 587
ultrasonic ranging, 585
ultraviolet light sensors, and flame detection, 656
unconditional branching, 454
units of measure, in electronics, 681
US Digital odometer kits, 617
USB
Arduino, programming with, 466
BASIC Stamp, programming with, 499
hubs, 526
microcontroller, connecting through, 525
port programming, 433
U.S. Naval Ordnance Laboratory, 287
Valiant Technologies, Inventa, 162
variables
assignment, 455
VCO (voltage-controlled oscillator), 531
VCRs, robotics parts from, 36
vector graphics, 154
Bezier curves, 155
file formats, 158
Inkscape, 155
shapes stacking order, 159
Velcro, 148
for battery pack, 194
Vex Robotics Design System, 10
video signal
analog video transmitter, 544
through data radio, 543
standards for, 602
video vision, 600
analog, 602
digital, 600
image analysis, 600
microcontroller-based, 601
PC-based robot, 600
Webcam, 600
voltage
Arduino, 466
brownout, 184
comparator, 523
dielectric breakdown, 391
dividing with potentiometers, 389, 524
dividing with resistors, 385
drop, 228
floating, 378
forward voltage drop, diodes, 395
incremental voltage drop, diodes, silicon, 396
monitor, for batteries, 208
Ohm’s law, 387
peak inverse, 395
piezoelectric-produced, 563
for walking robot motors, 324
working, capacitor rating, 393
voltage-controlled oscillator (See VCO)
voltage regulation, 201
linear, 204
multiple systems, using, 206
silicon diodes, 202
switching, 205
zener diodes, 203
voltage regulator, in Arduino, 466
volt-ohm meter, introduction to, 363
walking robot
construction materials, selection of, 321
defined, 18
Hex3Bot, 328
power supply, 324
wall following, 608
washers, using as fasteners, 133
watts, and Ohm’s law, 387
WAV file sound playback, 631
Webcam, 600
weight distribution, motors and wheels, placement of, 298
wheels
bottle caps, repurposed, 171
car-type steering, 212
caster, tricycle base, 213
centerline drive motor mount, 298
custom-made for R/C servo motors, 275
diameter and width, 300
differential steering, 211, 300
foam tires, lightweight, 275
front-drive motor mount, 298
holonomic steering, 214
idler, 278
locomotion with, 210
materials for, 299
modifying to match motor, 273
modifying with setscrews, 273
mounting, DC motors, 273
mounting, R/C servo motors, 274
multidirectional, 298
O-rings, made from, 275
placement and turning circle, 300
skateboard/inline roller-skate, 275
speed, calculating, 301
stability, support, 302
synchronized omnidirectional steering, 214
toy vehicles, repurposed from, 167
traction, 300
tricycle steering, 213
wells, benefits of, 101
width considerations, 300
Wheel Watcher, quadrature encoding, 616
whegs (wheel legs), locomotion with, 217
whiskers
fiber-optic, 568
spring, 550
as touch sensors, 549
windings, use in DC motors, 230
wire
circuit board, wrapping, 423
connectors, 375
insulation, 370
single stranded and solid conductor, 371
wireless applications
Arduino, 464
cameras, 544
wire strippers, 369
wire wrapping, 422
tools, 423
wood
as construction material, 50
from craft stores, 32
finishing, 78
painting, 79
planking, dimensions table, 71
selection, hardwood/softwood, 69, 175
work envelope
defined, 19
robotic arms, 340
working voltage, capacitors, 393
wrist, DOF, 344
X-Y joint
constructing, 336
custom-made, 335
as sensor turret, 338
wrist, 344
zener diodes, and voltage regulation, 203