Creating Precision Robots

Front-Matter_2019_Creating-Precision-Robots
	Title Page
Copyright_2019_Creating-Precision-Robots
	Copyright
Preface_2019_Creating-Precision-Robots
	Preface
		An Overview of What This Book Does
		The Teaching Philosophy
		Resources
Acknowledgments_2019_Creating-Precision-Robots
	Acknowledgments
Chapter-1---Tools--Cutting-Techniques--Risk--Reliabil_2019_Creating-Precisio
	Tools, Cutting Techniques, Risk, Reliability, and Safety Issues
		Learning Outcomes
		Tools Required for Cutting and Gluing Cardboard
		Marking Out the Cardboard
		Cutting Straight Lines
		Cutting Circles
		Breaking Off Old Section to Expose a New Sharp Edge on the Box Cutter
		Safety Concerns for the Hitting Robot
		Safety Concerns for the Throwing Robot
		Safety Concerns for the Catapult Robot
Chapter-2---Theory-I--Ball-Trajectory-Computation-Usi_2019_Creating-Precisio
	Theory I: Ball Trajectory Computation Using Excel Spreadsheet
		Introduction
		Discrete Dynamics Equation of Motion
		Calculating the Ping-Pong Ball Acceleration Drag Coefficient, k
		Excel Spreadsheet Tabulation, Computation, and Graphical Results
		Notes on First, Second, and Subsequent Row Calculations and Values
		Using the Trajectory Computation to Synthesize Some Useful Equations
		Strategy for Setting Launch Velocity Using the Excel Spreadsheet Trajectory Computation
		Competition Scoring System for Pocketing Balls in Baskets
			Rules of the Ball-in-Basket Competition
		Confirmation of the Deceleration Drag Constant, k (m-1)
		Problems
Chapter-3---Theory-II--The-Basic-Stamp-Microcomp_2019_Creating-Precision-Rob
	Theory II: The Basic Stamp Microcomputer
		Learning Outcomes
		Introduction to the Stamp Microcomputer
		The Stamp Microcomputer Input/Output (I/O) Ports and Pins
		Experiment #1. Reading a Low and a High on an Input Pin
		Experiment #2. Setting a Low on an Output Pin
		Experiment #3. Setting a High on an Output Pin
		Short Circuit Protection of I/O Pins
		The RCtime Instruction
		The Basic Stamp and Its Integer Number Computation
		Significant Figures and Decimal Places
		Computation of Mathematical Function With Integers
		Basic Stamp Equation Setup Procedure
		Problems
Chapter-4---Theory-III--The-Stepper-Motor-and-Its_2019_Creating-Precision-Ro
	Theory III: The Stepper Motor and Its Control
		Introduction to the Stepper Motor and Its Power Drivers
		Main Components Making Up the Stepper Motor
			Component 1. The Axle
			Component 2. The Rotor Pole Piece
			Component 3. The Permanent Magnet
			Component 4. The Disc Spacer
			Component 5. The Stator
		Assembly of the Stepper Motor Components
		Coil Winding and Electromagnetic Polarity
		Stator and Rotor Pole Piece Attraction
		Coil Winding Methodology
		Flux Distribution and How It Is Used to Step the Rotor in Increments
		Stepper Motor Electrical Power Drivers
			The Unipolar Circuit
		Reason for High-Voltage 12V Power Supply
		Basic Stamp Programming of Unipolar Modes
			1-Phase-on Mode
			Determination of Pull-In Speed
			Determination of Pull-Out Speed
			Pull-Out Speed
			2-Phase-On Step Mode
			Half-Step Mode
			The Bipolar Circuit
		The L298 ``Keyes´´ Bipolar Driver
		Leadshine DM542 Bipolar Microstepping Current Chopping Driver
		Problems
Chapter-5---Theory-IV--Collision-Theory-and-Design-Note_2019_Creating-Precis
	Theory IV: Collision Theory and Design Notes Related to the Hitting Robot
		Introduction
		Theory of Collision Dynamics
		Measurement of the Coefficient of Restitution, u
		Hitting Constructional Design Features
		Design of the Tee
		Design of the Hitting Arm
		Analysis of Ball Collision
Chapter-6---The-Ball-Hitting-Robot--Design-and-Con_2019_Creating-Precision-R
	The Ball Hitting Robot: Design and Construction
		Learning Outcomes
		Making the Base Plate
			First Make the ``Instep Jig´´
			Now Start Making the Parts
				Note All Units Are Millimeter and All Parts Are 1.5 mm Thick Cardboard
		Making the Tower That Supports the Heavy Stepper Motor
			Now Start Gluing Up the Tower
		Making the Hitting Arm
		Making the Tee
		Mounting the Electronics
		Programming the Hitting Robot
		Problems
Chapter-7---Theory-V--The-Angular-Displacement-Servom_2019_Creating-Precisio
	Theory V: The Angular Displacement Servomechanism, The ``Servo´´
		Overview of the Servo
		Block Diagram of the Integrated Servomechanism
		Inside the Integrated Servo
			Description of Each Component of the Integrated Servo
			Datuming the Horn
		Microcomputer Signal Control of the Servo
			Servo Calibration
		Square-Wave Angle Demand and Its Programming Code
		Sawtooth Wave Angle Demand and Its Programming Code
		Problems
Chapter-8---The-10-Ball-Magazine-Autoloader--Design-_2019_Creating-Precision
	The 10-Ball Magazine Autoloader: Design and Construction
		Learning Outcomes
		Design Drawings
		Gluing and Assembly Instructions
		Wiring and Programming the Autoloader
			Sample PBasic Stamp Code for Operating the Autoloader That Deposits a Ball Into the Tee
		Problems
Chapter-9---Theory-VI--Theory-and-Design-Notes-Relate_2019_Creating-Precisio
	Theory VI: Theory and Design Notes Related to the Throwing Robot
		Working Concept of the Throwing Robot
		Basic Design Requirements of the Throwing Robot
		Design of the Claw and Its Releasable Mechanism
		Ball Release Kinematic Analysis
		Forces Acting on Ping-Pong Ball During Rotation
			In Conclusion
		Method for Checking Adequacy of End-Effector Clutching Force
		Repeatability Errors
		Problems
Chapter-10---The-Ball-Throwing-Robot--Design-and-C_2019_Creating-Precision-R
	The Ball Throwing Robot: Design and Construction
		Learning Outcomes
		The Tower Structure (All Dimensions in mm)
		The Smart Arm
			Smart Arm Construction
		Electrical Wiring of the Stepper Motor
		Programming the Stepper Motor to Rotate the Smart Arm
		The Smart Arm Electrical Circuitry
		Real-Time Programming the Smart Arm
		Problems
Chapter-11---Theory-VII--Theory-and-Design-Notes-of-_2019_Creating-Precision
	Theory VII: Theory and Design Notes of the Catapult Robot
		Overview of the Catapult Launching System
		The Spring Energy Storage Catapult System
		The Shuttle Design
		Mathematical Analysis of the Catapult Spring System
		Launching Speed Precision
		Problems
Chapter-12---The-Catapult-Robot--Design-and-Const_2019_Creating-Precision-Ro
	The Catapult Robot: Design and Construction
		Learning Outcomes
		Base Structure Drawings
		Base Structure Construction
		Slideway Drawings
		Slideway Construction
		Shuttle and Pull-Back System Drawings
		Construction of Shuttle and Pull-Back System
		Assembly of Complete Robot
		The ``Winch´´ Servo
		Programming the Catapult to Launch a Ball Automatically
		Problems
Index_2019_Creating-Precision-Robots
	Index
		A
		B
		C
		D
		E
		F
		G
		H
		I
		J
		K
		L
		M
		N
		O
		P
		Q
		R
		S
		T
		U
		V
		W