Build Your Own Combat Robot

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Appendix C: Helpful Formulas 357 chain due to the high tension. If this is the case, add another master chain link to the system. Timing Belt Centerline Distances The pulley centerline distances are computed in a similar manner to how the centerline distances are computed with chain drive systems. The first step is to determine a belt length. Equation 3 shows this relationship from the Martin sprocket and gear catalog. V-Belts C is the center distance, L is the belt length, D is the pitch diameter of the larger pulley, and d is the pitch diameter of the smaller pulley. Unlike equation 1, the center distance and belt length are not in terms of pitches, but they are actual distances. The pitch diameter of a timing belt pulley is always larger than the outside diameter of the teeth on the pulley. The initial center distance, C, is estimated based on preliminary robot designs. Belt lengths come only in finite lengths. Once you determine the value for the belt length, you have to compare this with the available belt lengths for the particular belt type. Then select the belt length that is closest to the one calculated here. With this new belt length, you then need to calculate the actual center distances of the pulleys. Equation 4 shows the relationship that Martin uses to calculate these distances. As with timing belts, a V-belt length is first estimated based on an initial sheave center distance estimate. Spotts (Spotts, M.F., Design of Machine Elements, Prentice-Hall, 1985, pp 292) shows the relationship for determining the belt length in Equation 6 and then determining the actual center distance in Equation 7. L is the belt length, C is the center distance, R 1 is the radius of the smaller diameter sheave, and R 2 is the radius of the larger diameter sheave. The actual belt length must match available belt lengths for the particular V-belt. 2 3 4 5 6 7
358 Index 1BDI, 272 1/4 wave antenna, 173 27MHz radio frequency band, 162–163 4QD speed controller, 152–153 50MHz radio frequency band, 163 72MHz radio frequency band, 163 75MHz radio frequency band, 163–164 A AC (alternating current) motors, 62 Ackerman steering, 47–48 Active sensors, 241, 243 Adding controllers, 317–319 motor housings, 317–319 weapons, 324–325 weapons to design process, 27 wheels, 317 Advanced software algorithms, 301–302 Afterword, 329–332 Ahr (amp-hour) rating, 83 AI (artificial intelligence), 331 Algorithms, advanced software, 301–302 Alkaline batteries, 83, 98–99 advantages of, 99 disadvantages of, 99 Alloys aluminum, 186 austenitic, 187 martensitic, 187 precipitatinghardening, 187 softer steel, 188 Aluminum, 185–187 alloys, 186 AM (amplitude modulation), 162, 167 AM, FM, PCM and radio interference, 167–170 American Gladiators for people with brains, 16 American Wire Gauge (AWG), 91 Amp hour capacities, comparing, 86–87 Amplifiers, Bully power servo, 152 Amplitude modulation (AM), 162, 167 Angle extrusions, 190 Angle pieces of metal, 189 Annual robot sumo events, 303 Antenna configuration, ideal, 173 Antennas 1/4 wave, 173 base-loaded, 174 placement, 174 and shielding, 173–174 should be mounted vertically, 173 Applications, microcontroller, 269–274 Arc welding, 196–197 Arm, servo, 136 Armor, 27 body, 37 creating, 311–314 Artificial intelligence (AI), 331 Assemblies mini sumo body, 284–285 mounting gear, 122 wheel, 59 Augers, 8 Austenitic alloys, 187 Automated competition, 331 Automating bot functions, 27 Autonomous combat robots, 4 Autonomous mini sumo, 286 Autonomous robot class, fully, 253–256 Autonomous robots; See also Semiautonomous robots, 239–257, 272 autonomous target tracking, 253–256 fully, 240 implementing sensors in combat robots, 248–250 more information, 257 semiautonomous target and weapon tracking, 250–253 Copyright 2002 by The McGraw-Hill Companies, Inc. Click Here for Terms of Use.
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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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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 4: Motor Selection and Perf
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FIGURE 4-7 24-volt, 185 rpm, 896 in
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the robot. If the engine is used to
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chapter Remotely Controlling Your R
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FIGURE 8-1 Wiring and rotational po
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FIGURE 8-2 Futaba’s top of-the-li
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Chapter 8: Remotely Controlling You
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FIGURE 8-4 Typical radio frequency
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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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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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chapter 14 Real-Life Robots: Lesson
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Page 401: INTERNATIONAL CONTACT INFORMATION A
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