Creating Precision Robots: A Project-Based Approach to the Study of Mechatronics and Robotics

Cover
Creating Precision Robots:

A Project-Based Approach to the Study of
Mechatronics and Robotics
Copyright
Preface
	An Overview of What This Book Does
	The Teaching Philosophy
	Resources
Acknowledgments
1
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
2
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
3
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
4
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
5
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
6
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
7
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
8
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
9
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
10
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
11
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
12
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
	A
	B
	C
	D
	E
	F
	G
	H
	I
	J
	K
	L
	M
	N
	O
	P
	Q
	R
	S
	T
	U
	V
	W
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