Build Your Own Combat Robot

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FIGURE 6-11 Two typical right-angle drive speed reducers using the 56C NEMA standard face size. Chapter 6: Power Transmission: Getting Power to Your Wheels 123 shaft and the output shaft are parallel. The other general class of speed reducers are called right-angle drives. In this type of system, the output shaft is at a right angle with respect to the motor shaft. Many wheelchair motors, windshield wiper motors, and power window motors are right-angle drives. Most commercial speed reducers use standard mounting methods defined by NEMA (National Electrical Manufacturers Association). Two NEMA general classifications should be considered: the NEMA Frame size, and the NEMA Face size. The NEMA Frame size defines the standard dimensions for the motor mounting holes to secure the motor frame and defines the height of the motor shaft from the mounting surface. The NEMA Face size defines the bolt hole pattern on the front face of the motor. Two NEMA speed reducers are shown in Figure 6-11. With NEMA face mounting, the speed reducer is bolted directly to the face of the motor. With NEMA frame mounting, both the speed reducer and motor are mounted to the same base plate. The NEMA specifications also specify the motor shaft diameters, shaft length, and the type of keyway. A motor and a speed reducer with the same NEMA specification will fit together like a glove. If you are trying to fit together a motor and a speed reducer that do not have the same NEMA specification, then you will have to build an adapter to mate these two components together. Right-angle drives are usually made up of worm gears, which can provide high speed reductions. The right-angle drives that use bevel gears usually have low gear reductions. Speed reducers using spur gears are the lowest cost speed reducers when compared to helical gear speed reducers and planetary gear speed reducers. Helical speed reducers can transmit higher torque than spur gear speed reducers, and they run quieter. But helical speed reducers are sometimes less efficient than regular spur gear speed reducers. Planetary gearboxes offer a high gear reduction in a small package, and Harmonic speed reducers are the most compact speed reducer.
124 Build Your Own Combat Robot Planetary and Harmonic speed reducers are the most expensive forms of a gearbox. For low- to medium-power robots, one of the most cost-effective methods of obtaining a planetary gearhead is to pull one out of a cordless drill. But when doing this, you will have to build a special mount for the gearmotor because these motors are not designed to be stand-alone gearmotors. When building combat robots, it is generally a good idea to start with motors or gearmotors and use a chain or belt drive system to increase or decrease the output shaft speed of the motor/gearmotor to drive the robot’s wheels, than to design a custom gearbox. If you plan to use a commercially available high-powered electric motor, look for electric motors that use NEMA face and frame mounting methods so that standard gearboxes can be used with them. With a good power transmission, your robot should have all the speed and pushing force it should need in a contest.
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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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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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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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FIGURE 4-2 Heat generated in an ele
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FIGURE 4-4 Motor power changes by d
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Chapter 8: Remotely Controlling You
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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 8: Remotely Controlling You
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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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380 Build Your Own Combat Robot U U
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INTERNATIONAL CONTACT INFORMATION A
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