Build Your Own Combat Robot

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FIGURE 6-9 Timing belt used to drive a spinning weapon. (courtesy of Andrew Lindsey) Chapter 6: Power Transmission: Getting Power to Your Wheels 119 than regular flat belts. Timing belts can transmit significantly more torque than regular flat belts. They provide a much more quiet operation than chain drive systems. They have no backlash (they don’t slop when changing directions), so they are ideal in precise positioning systems such as automated and robotic machine tools. For combat robots, synchronous belts can be used to convert a two-wheel-drive robot into a four-wheel-drive robot, and they can be used for speed reductions. The drawbacks to timing belts are that the costs for the belts and pulleys are fairly high compared to belt systems and chain drive systems, and they require the pulleys to be precisely aligned and in the same plane with each other. Table 6-2 shows a list of the traditional belt sizes. Table 6-3 shows a list of highperformance belt sizes. Belt Type Pitch, Inches MXL .080 inch XL .200 inch L .375 inch H .500 inch XH .875 inch XXH 1.250 inch TABLE 6-2 Traditional Belt Size Designations ■
120 Build Your Own Combat Robot V-Belts Belt Type Pitch, mm Pitch, in. 2 mm GT 2.0 0.079 3 mm GT 3.0 0.118 5 mm GT 5.0 0.197 3mm HTD 3.0 0.118 5 mm HTD 5.0 0.197 TABLE 6-3 High-Performance Belt Size Designations ■ For a similar belt pitch, the high-performance belts are significantly stronger than the standard belts. Consult belt manufacturers such as Gates Rubber Company or Stock Drive Products to obtain actual belt specifications for your speed and torque requirements. As with chain drive systems, different pitches have different belt designations. A timing belt’s ability to transmit torque is based on the belt’s power rating (torque × speed) and the belt’s width factor. The baseline width factor for timing belts is 1 inch. To determine the load-carrying capability of a timing belt, you multiply the power rating of the belt by the belt width factor and divide the result by the rotational speed of the smallest pulley diameter. With timing belts, general relationships can be used to describe the load-carrying capabilities of the belts. You can obtain this information directly from the belt manufacturer, who should also provide a belt design datasheet that will explain how to compute these values directly. The pulley centerline distances are computed in a similar manner to how the centerline distances are computed with chain drive systems. The calculations are shown in Appendix C. They require more work to implement because the center distances have to be determined after the selection of the timing belt is made. Timing belts are available only in fixed lengths. V-belts have more of a trapezoidal cross-section, and the pulleys have a V-like shape to them. The proper name for a V-belt pulley is a sheave. V-belts are the most commonly used type of belt drives. They are seen in virtually every type of machinery where synchronization is not required. Virtually every automobile on the road has at least one V-belt on the engine. They can transmit more power than traditional flat belts because V-belts have two frictional contact surfaces. V-belts come in two general classifications: standard and high capacity. Five standard sizes are called A, B, C, D, and E, and they range from 1/2-inch wide to 1.5-inches wide. For the high-capacity classifications, the three different sizes are 3V, 5V, and 8V. Their widths range from 3/8- to 1-inch wide. As with timing belts, V-belts come in fixed lengths.
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Build Your Own Combat Robot Pete Mi
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For more information about this boo
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Contents For more information about
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Current Ratings, 129 How It All Wor
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Object Detector, 290 Sensor Integra
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Acknowledgments We would like to th
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Introduction Some kids spend their
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About the Authors xv About the Auth
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2 ELCOME to the world of combat rob
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4 Build Your Own Combat Robot FIGUR
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6 Build Your Own Combat Robot aroun
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18 Build Your Own Combat Robot In t
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22 S we said in Chapter 1, it’s g
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30 Build Your Own Combat Robot Befo
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32 Build Your Own Combat Robot What
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34 Build Your Own Combat Robot Test
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36 Build Your Own Combat Robot S af
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38 Build Your Own Combat Robot Ther
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42 OVING is what many might call a
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46 Build Your Own Combat Robot Bot
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chapter Motor Selection and Perform
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Chapter 4: Motor Selection and Perf
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FIGURE 4-1 Typical motor performanc
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Determining the Motor Constants Cha
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Chapter 8: Remotely Controlling You
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FIGURE 8-5 Motor with three capacit
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Innovation First Isaac Robot Contro
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FIGURE 8-6 Block diagram of Isaac o
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chapter 9 Robot Material and Constr
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Metals Aluminum Chapter 9: Robot Ma
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Stainless Steel Chapter 9: Robot Ma
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Titanium used to solder small brass
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Chapter 9: Robot Material and Const
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Welding, Joining, and Fastening We
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place, or some liquid may have ente
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vibration and bounce around the ins
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204 ECAUSE robot combat has evolved
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240 HE robots described in the book
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242 Build Your Own Combat Robot Pas
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248 Build Your Own Combat Robot tub
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250 Build Your Own Combat Robot One
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chapter 12 Robot Brains Copyright 2
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FIGURE 12-1 From top left to bottom
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Chapter 12: Robot Brains 263 space
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FIGURE 12-2 The BoeBot from Paralla
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Handy Board BotBoard Chapter 12: Ro
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FIGURE 12-5 Robo-Goose, a robotic g
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FIGURE 12-8 A fully autonomous robo
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S ummary Chapter 12: Robot Brains 2
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276 HE referee signals, and my hear
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278 Build Your Own Combat Robot In
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chapter 14 Real-Life Robots: Lesson
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FIGURE 14-1 Chew Toy Chapter 14: Re
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FIGURE 14-2 Chew Toy with protectiv
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FIGURE 14-3 Wheel shown bolted to d
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FIGURE 14-5 Front view with arm dow
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Final Words Chapter 14: Real-Life R
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Chapter 14: Real-Life Robots: Lesso
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design all the parts, and Dave did
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FIGURE 14-12 The 4-inch-tall alumin
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FIGURE 14-15 Internal view of Live
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330 The Future of Robot Combat The
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336 NLESS you’re building an exac
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340 Build Your Own Combat Robot the
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344 S promised, following are some
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350 Build Your Own Combat Robot Mic
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356 OLLOWING are formulas that you
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358 Index 1BDI, 272 1/4 wave antenn
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sources of robot parts, 35 top ten
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INTERNATIONAL CONTACT INFORMATION A
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