Build Your Own Combat Robot

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Microcontroller suppliers, 350 Microcontrollers, 179 miscellaneous, 268–269 MIG (metal inert gas) welders, 186 MIG welding, 196–197 Mild steel, 188 Miles per hour (MPH), 106 Miles, Pete, 316–327 Military uses treads in tanks, 45 Mini sumo, 281–298 autonomous mini sumo, 286 building mini sumo, 284 edge detector, 286–290 mini sumo body assembly, 284–285 modifying R/C servo for continuous rotation, 281–283 object detectors, 290–292 performance improvements, 297 remote-control mini sumo, 285–286 sensor integration, 293–296 various mini sumo robots, 297–298 MIT (Massachusetts Institute of Technology), 268 Model race cars, R/C (radio controlled), 48 Modeling, layout and, 319–321 Modems miscellaneous radio, 175–179 radio, 178–179 Modifying R/C servo for continuous rotation, 281–283 Moment, bending, 50 MOSFETs (Metal Oxide Semiconductor Field Effect Transistors), 142, 340 Motor constants, determining, 67–68 Motor Controller, OSMC, 153–155 Motor controllers, 299–300 Motor, electric, 62–75 determining motor constants, 67–68 power and heat, 68–72 pushing limits, 72–75 Motor heating, 72 Motor housings, adding, 317–319 Motor operation and voltage, 69 Motor performance chart, typical, 65 Motor selection and performance, 61–77 electric motor basics, 62–75 internal combustion engines, 76–77 Motor sources, 74–75 electric, 344–346 Motor speed constant, 63 controllers, 26 decreases as motor torque increases, 65 Motor torque constant, 63 and frictional forces, 111 Motor torque increases, motor speed decreases as, 65 Motors, 299 AC (alternating current), 62 acquiring electric, 74 best places to get electric, 74 bi-directional control of, 143 brushless PMDC, 73 choosing, 70 conditions under which they will operate, 70 controlling, 132 cordless drill, 75 current draw specifications from robot, 26 DC (direct current), 63 doubling voltage and heat generated, 70 drill, 99, 194 efficiency of, 73 heat can destroy, 72 high-performance, 73 how they will perform, 62 internal combustion, 62 keeping cool, 113 minimum amount of heat and running, 69 most combat robots use electric, 76 mounting, 112–113 noise from, 171 output power from, 70 permanent magnet DC, 67 place greatest constraints on design, 62 PMDC (permanent magnet direct current), 62 securing, 316–317 speed and efficiency, 69 starting, 63 that come without data sheets, 80 thermal consideration for, 113–114 Index 369
370 Build Your Own Combat Robot variable speed control of, 143 Motors and heat, physical sizes of, 72 Motors, controlling one’s, 127–155 relay control, 128–139 variable speed control basics, 139–155 Motors to start turning, energy to get, 63 Motor’s voltage, doubling, 70 Mounting gear assemblies, 122 motors, 112–113 wheels, 54–55 Mounting axles, 54–55 using various types of bearings, 55–57 Movement commands, 158 Moving is robot’s primary objective, 42 MPH (miles per hour), 106 Multi-stranded wires, 92 Multi-wheel platform, 49 Multiple contests, designing robots for, 23 N NASA’s Jet Propulsion Labs, 50 NC (normally closed) contacts, 129 NEMA (National Electrical Manufacturers Association), 123, 124 New robot builder, help, 17 NiCad (Nickel Cadmium) batteries, 83, 95–97 advantages of, 96–97 disadvantages of, 97 packs and internal resistance, 88 NiCad run-time capacities, comparing, 86 Nightmare, Jim Smentowski and, 86 NiMH batteries advantages of, 98 disadvantages of, 98 NiMH (Nickel Metal Hydride) batteries, 83, 97–98 packs and internal resistance, 88 NiMH run-time capacities, comparing, 86 No-load current, 63, 64, 68 No load speed, 63 NO (normally open) contacts, 129 Noise gasoline engines and electrical, 172 from motors, 171 Numbers, channel, 162 O Object detectors, 290–292 Ohm’s Law, using to measure current draw, 81 Old production equipment, 35 One-Way Rule, Vaughan’s, 105–106, 191–192, 207 Open Source Motor Controller (OSMC), 153 Operations, general machining, 192–201 Operator interface, IFI Robotics Isaac, 176 Optical sensors, 248 Opto-isolators, 148 Organizations, robot, 43, 351–352 OSMC Motor Controller, 153–155 OSMC (Open Source Motor Controller), 153 Output power, 65 from motors, 70 Oval-head screws, 198 Overall power, 64 Overhead thwack bots, 219–220 strategy, 220 thwack mechanism design, 219–220 P Pan-head machine screws, 198 Paper or CAD, designing robots on, 30 Part suppliers, robot, 302 Parts existing, 30 sources of robot, 35 Passive sensors, 241, 242 wheel drives, 57 PCBs (printed circuit boards), 336–337 soldering, 338 PCM and radio interference, AM, FM, 167–170 PCM (Pulse Code Modulation), 168–170 available RC systems, 169 choosing radio systems, 169 received data is evaluated channel by channel, 168 PDAs (personal data assistants), 273 Peak currents, voltage stability for, 88–89 Peak horsepower, 69 Performance characteristics, battery, 90
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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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16 Build Your Own Combat Robot Robo
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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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24 Build Your Own Combat Robot Even
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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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52 Build Your Own Combat Robot You
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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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80 LECTRICALLY powered competition
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104 NE of the most important consid
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128 F batteries are the source of p
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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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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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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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Page 375 and 376: 356 OLLOWING are formulas that you
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Page 395 and 396: sources of robot parts, 35 top ten
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Page 401: INTERNATIONAL CONTACT INFORMATION A
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