Robot Mechanisms and Mechanical Devices Illustrated - Profe Saul

Introduction
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Figure 11 Mold Shape Deposition Manufacturing (MSDM): Casting molds can be
formed in successive layers: Wax for the mold and water-soluble photopolymer to support
the cavity are deposited in a repetitive cycle to build the mold in layers whose thickness
and number depend on the mold’s shape (a). UV energy solidifies the photopolymer.
The photopolymer support material is removed by soaking it in hot water (b). Materials
such as polymers and ceramics can be cast in the wax mold. For ceramic parts, a gelcasting
ceramic slurry is poured into the mold to form green ceramic parts, which are then
cured (c). The wax mold is then removed by heat or a hot liquid bath and the green
ceramic part released (d). After furnace firing (e) any vents and sprues are removed.
Popsicle sticks, crazy glue, hot glue, shirt cardboard, packing tape, clay,
or one of the many construction toy sets, etc. Fast, cheap, and surprisingly
useful information on the effectiveness of whatever concept has
been dreamed up can be achieved with very simple prototypes. There’s
nothing like holding the thing in your hand, even in a crude form, to see
if it has any chance of working as originally conceived.
Robots can be very complicated in final form, especially those that do
real work without aid of humans. Start simple and test ideas one at a time,
then assemble those pieces into subassemblies and test those. Learn as
much as possible about the actual obstacles that might be found in the
environment for which the robot is destined. Design the mobility system
to handle more difficult terrain because there will always be obstacles that
will cause problems even in what appears to be a simple environment.
Learn as much as possible about the required task, and design the manipulator
and end effector to be only as complex as will accomplish that task.
Trial and error is the best method in many fields of design, and is
especially so for robots. Prototype early, prototype often, and test everything.
Mobile robots are inherently complex devices with many interactions
within themselves and with their environment. The result of the
effort, though, is exciting, fun, and rewarding. There is nothing like seeing
an autonomous robot happily driving around, doing some useful task
completely on its own.