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| موضوع: كتاب Robot Builder’s Bonanza الأحد 23 مايو 2021, 2:20 am | |
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أخوانى فى الله أحضرت لكم كتاب Robot Builder’s Bonanza Gordon Mccomb Fourth Edition
و المحتوى كما يلي :
Acknowledgments xxi Photo and Illustration Credits xxiii Introduction xxv Part 1-The Art and Science of Robot Building Chapter 1-Welcome to the Wonderful World of Robotics! 3 What the Adventure Holds 3 Why Build Robots? 4 The Building-Block Approach 6 Lower Costs, Better Bots 6 Skills You Need 7 Do It Yourself, Kits, or Ready-Made? 9 Thinking Like a Robot Builder 12 Chapter 2-Anatomy of a Robot 13 Stationary versus Mobile Robots 13 Autonomous versus Teleoperated Robots 14 Tethered versus Self-Contained Robots 15 So, What’s a Robot, Anyway? 16 The Body of the Robot 17 Locomotion Systems 22 Power Systems 24 Sensing Devices 25 Output Devices 27 Where the Word “Robot” Comes From 27 Chapter 3-Getting Parts 29 Local Electronics Stores 30 Online Electronics Outlets 30 Using FindChips.com to Locate Parts 30 CONTENTSviii CONTENTS Specialty Online Robotics Retailers 31 Hobby and Model Stores 31 Craft Stores 32 Hardware and Home Improvement Stores 33 Samples from Electronics Manufacturers 33 Finding What You Need on the Internet 33 Shop Once, Shop Smart 34 Haunting the Surplus Store 34 Getting Parts from Specialty Stores 35 Scavenging: Making Do with What You Already Have 36 Getting Organized 37 Part 2-Robot Construction Chapter 4-Safety First (and Always) 43 Project Safety 43 Battery Safety 44 Soldering Safety 44 Fire Safety 44 Avoiding Damage by Static Discharge 45 Working with House Current 47 First Aid 47 Use Common Sense-and Enjoy Your Robot Hobby 48 Chapter 5-Building Robot Bodies-the Basics 49 Picking the Right Construction Material 49 In Review: Selecting the Right Material 52 Robots from “Found” Parts 53 Basic Tools for Constructing Robots 54 Optional Tools 57 Hardware Supplies 57 Setting Up Shop 58 Chapter 6-Mechanical Construction Techniques 59 First Things First: Eye and Ear Protection 59 Plan, Sketch, Measure, Mark 60 Drilling Holes in Things 60 Cutting Things to Size 64 Using Portable Power Tools 67 Getting Work Done Fast with Air Tools 68CONTENTS ix Chapter 7-Working with Wood 69 Hardwood versus Softwood 69 Planks or Ply 69 The Woodcutter’s Art 72 Chapter 8-Build a Motorized Wooden Platform 80 Making the Base 80 Building and Attaching the Motors 83 Building and Mounting the Wheels 84 Attaching the Ball Caster 84 Using the PlyBot 85 Variations on a Theme 85 Chapter 9-Working with Plastic 87 Main Kinds of Plastics for Bots 87 Best Plastics for Robotics 89 Where to Buy Plastic 89 The Ins and Outs of Rigid Expanded PVC 90 How to Cut Plastic 91 How to Drill Plastic 93 Making Plastic Bases 93 Making Plastic Frames 95 How to Bend and Form Plastic 96 How to Smooth the Edges of Plastic 96 How to Glue Plastic 96 Using Hot Glue with Plastics 98 How to Paint Plastics 98 Household Plastics for Bot Constructions 98 Chapter 10-Build a Motorized Plastic Platform 100 Making the Base 100 Attaching the Motors 102 Fitting the Wheels 104 Attaching the Ball Caster 104 Using the PlastoBot 104 Altering the PlastoBot Design 105 Chapter 11-Working with Metal 107 All About Metal for Robots 107 Measuring the Thickness of Metal 109x CONTENTS What’s This about Heat Treatments? 110 Where to Get Metal for Robots 110 Recap of Metals for Robotics 110 Metal from Your Home Improvement Store 111 Metal from Craft and Hobby Stores 113 The Metalsmith’s Art 114 Chapter 12-Build a Motorized Metal Platform 122 Making the Base 122 Using the TinBot 127 Chapter 13-Assembly Techniques 129 Screws, Nuts, and Other Fasteners 129 Brackets 135 Selecting and Using Adhesives 136 Chapter 14-Rapid Prototyping Methods 144 Selecting Lightweight Robot Materials 144 Cutting and Drilling Substrate Sheets 146 Rapid Construction with Semipermanent Fasteners 147 Chapter 15-Drafting Bots with Computer-Aided Design 152 Making Drilling and Cutting Layouts 152 File Formats for Vector Graphics 158 Using Laser-Cutting Services 158 Producing “Quick-Turn” Metal and Plastic Prototypes 159 Chapter 16-Constructing High-Tech Robots from Toys 160 Erector Sets 160 Fischertechnik 161 K’NEX 162 Other Construction Sets to Try 162 Construction with Snap-Together Components 163 Specialty Toys for Robot Hacking 165 Making Robots from Converted Toy Vehicles 166 Chapter 17-Building Bots from Found Parts 170 A Dozen Ideas to Get You Started 170 Experimenting with “No-Cut” Metal Platform Designs 171 Using Wood and Plastic Samples 175 Keep Your Eyes Peeled and Your Tape Measure Out 176CONTENTS xi Part 3-Power, Motors, and Locomotion Chapter 18-All about Batteries 179 An Overview of Power Sources 179 Batteries for Your Robots 180 Understanding Battery Ratings 183 Recharging Batteries 187 Robot Batteries at a Glance 187 Common Battery Sizes 187 Increasing Battery Ratings 189 Chapter 19-Robot Power Systems 190 Power and Battery Circuit Symbols 190 Using a Premade Battery Pack 191 Making Your Own Rechargeable Battery Pack 192 Using Battery Cells in a Battery Holder 193 Best Battery Placement Practices 195 Wiring Batteries to Your Robot 196 Preventing Reverse Battery Polarity 197 On the Web: How to Solder a Barrel Plug onto a Battery Holder or DC Wall Transformer 198 Adding Fuse Protection 198 Providing Multiple Voltages 199 Regulating Voltage 201 Dealing with Power Brownouts 207 Battery Voltage Monitors 208 Chapter 20-Moving Your Robot 209 Choosing a Locomotion System 209 Locomotion Using Wheels 211 Locomotion Using Tracks 215 Locomotion Using Legs 216 Locomotion Using Other Methods 217 On the Web: Managing the Weight of Your Robot 218 Chapter 21-Choosing the Right Motor 219 AC or DC Motor? 219 Continuous or Stepping Motor? 220 Servo Motors 220 Motor Specs 221xii CONTENTS Testing Current Draw of a Motor 224 Dealing with Voltage Drops 228 Avoiding Electrical Noise 229 Chapter 22-Using DC Motors 230 The Fundamentals of DC Motors 230 Reviewing DC Motor Ratings 232 Controlling a DC Motor 232 Motor Control by Switch 232 Motor Control by Relay 234 Motor Control by Bipolar Transistor 239 Motor Control by Power MOSFET Transistor 241 Motor Control by Bridge Module 244 Controlling the Speed of a DC Motor 247 Bonus Projects: Interfacing to Motor Bridge Modules 248 Chapter 23-Using Servo Motors 249 How R/C Servos Work 249 Control Signals for R/C Servos 251 The Role of the Potentiometer 253 Special-Purpose Servo Types and Sizes 253 Gear Trains and Power Drives 254 Output Shaft Bushings and Bearings 254 Typical Servo Specs 255 Connector Styles and Wiring 256 Analog Versus Digital Servos 257 Electronics for Controlling a Servo 258 Using Continuously Rotating Servos 260 Modifying a Standard Servo for Continuous Rotation 261 Using Servo Motors for Sensor Turrets 265 Chapter 24-Mounting Motors and Wheels 266 Mounting DC Motors 266 Mounting and Aligning Motors with Aluminum Channel 269 Mounting R/C Servos 270 Mounting Drivetrain Components to Shafts 272 Mounting Wheels to DC Gear Motors 273 Mounting Wheels to R/C Servos 274CONTENTS xiii Attaching Mechanical Linkages to Servos 276 Drivetrain Components for Robotics 277 Using Rigid Flexible Couplers 278 Working with Different Shaft Types 282 Everything You Always Wanted to Know about Gears 283 Chapter 25-Robot Movement with Shape Memory Alloy 287 Shape Memory Alloy Comes to Robotics 287 Basics of Shape Memory Alloy 287 Using Shape Memory Alloy 288 Operating SMA Using a Microcontroller 290 Experimenting with SMA Mechanisms 291 Using Ready-Made SMA Mechanisms 292 Part 4-Hands-on Robotic Projects Chapter 26-Build Robots with Wheels and Tracks 297 Basic Design Principles of Rolling Robots 297 Two-Motor BasicBot 304 Bonus Project: Double-Decker RoverBot 306 Building 4WD Robots 306 Building Tank-Style Robots 309 Chapter 27-Build Robots with Legs 318 An Overview of Leggy Robots 318 Selecting the Best Construction Material 321 Scratch Build or Parts Kits 322 Leg Power 324 Walking Gaits for Legged Robots 327 Build a 3-Servo Hexapod 328 Creating X-Y Servo Joints 335 Bonus Project: Build a 12-Servo Hexapod 338 Chapter 28-Experimenting with Robotic Arms 339 The Human Arm 339 Degrees of Freedom in a Typical Robotic Arm 340 Arm Types 340 Actuation Techniques 343 Build a Robotic Wrist 344xiv CONTENTS Build a Functional Revolute Coordinate Arm 345 Build a Robotic Arm from a Kit 350 Chapter 29-Experimenting with Robotic Grippers 352 Concept of the Basic Gripper 352 Two-Pincher Gripper 353 Tool Clamp Gripper 355 On the Web: More Gripper Plans 359 Part 5-Robot Electronics Chapter 30-Building Robot Electronics-the Basics 363 Tools for Electronics You Should Have 363 Making Electronic Circuits-the Basics 370 Understanding Wires and Wiring 370 How to Solder 371 Using Headers and Connectors 375 Using Clip-on Jumpers 377 Good Design Principles 377 RoHS Demystified 379 Chapter 31-Common Electronic Components for Robotics 381 But First, a Word about Electronics Symbols 381 Fixed Resistors 382 Potentiometers 388 Capacitors 390 Diodes 394 Light-Emitting Diodes (LEDs) 396 Transistors 399 Integrated Circuits 400 Switches 402 Relays 404 . . . And the Rest 405 On the Web: Stocking Up on Parts 406 Chapter 32-Using Solderless Breadboards 407 Anatomy of a Solderless Breadboard 407 Steps in Constructing a Solderless Breadboard Circuit 411CONTENTS xv Making Long-Lasting Solderless Circuits 411 Mounting the Breadboard to Your Robot 412 Tips for Using a Solderless Breadboard 413 Chapter 33-Making Circuit Boards 414 Overview of Your Primary Circuit Board Options 414 Clean It First! 415 Making Permanent Circuits on Solder Breadboards 415 Using Point-to-Point Perforated Board Construction 416 Using Predrilled Stripboards 417 Creating Electronic Circuit Boards with PCB CAD 418 Producing Arduino-Specific Boards with Fritzing 420 On the Web: Etching Your Own Printed Circuit Board 421 Using Custom Prototyping Boards 422 Making Semipermanent Circuits with Wire Wrapping 422 Effective Use of Plug-in Headers 424 Part 6-Computers and Electronic Control Chapter 34-An Overview of Robot “Brains” 425 Brains for the Brawn 427 Igor, Pull the Switch! 428 Brains from Discrete Components 428 Programmed Brains 429 Of Inputs and Outputs 434 Chapter 35-Understanding Microcontrollers 437 All about Microcontroller Categories 437 Microcontroller Shapes and Sizes 440 Under the Hood of the Typical Microcontroller Chip 441 Microcontroller Programmers 444 All about Microcontroller Speed 445 Chapter 36-Programming Concepts: The Fundamentals 446 Important Programming Concepts 446 Understanding Data Types 450 Lucky Seven Most Common Programming Statements 452 Variables, Expressions, and Operators 455 On the Web: More Programming Fundamentals 459xvi CONTENTS Part 7-Microcontroller Brains Chapter 37-Using the Arduino 463 Arduino under the Hood 463 Many Variations on a Theme 464 Ready Expansion via Shields 465 USB Connection and Power 466 Arduino Pin Mapping 467 Programming the Arduino 467 Programming for Robots 469 Using Servos 473 Creating Your Own Functions 474 On the Web: Operating Two Servos 475 Flow Control Structures 476 Using the Serial Monitor Window 477 Some Common Robotic Functions 478 Using Switches and Other Digital Inputs 479 Interfacing to DC Motors 479 Chapter 38-Using the PICAXE 482 Understanding the PICAXE Family 482 Programming the PICAXE 487 Core Language Syntax 488 PICAXE Functions for Robotics 492 Example: Controlling an RC Servo with the PICAXE 493 Example: Reading Buttons and Controlling Outputs 494 Chapter 39-Using the BASIC Stamp 496 Inside the BASIC Stamp 496 Stamp Alone or Developer’s Kit 498 Physical Layout of the BS2 498 Hooking Up: Connecting the BASIC Stamp to a PC 499 Understanding and Using PBasic 500 Interfacing Switches and Other Digital Inputs 506 Interfacing DC Motors to the BASIC Stamp 507 Interfacing RC Servo Motors to the BASIC Stamp 508 Additions in PBasic 2.5 509CONTENTS xvii Chapter 40-Interfacing Hardware with Your Microcontroller or Computer 512 Sensors as Inputs 512 Motors and Other Outputs 514 Input and Output Architectures 516 Interfacing Outputs 519 Interfacing Digital Inputs 520 Interfacing Analog Input 522 Connecting with USB 525 Using Analog-to-Digital Conversion 526 Using Digital-to-Analog Conversion 527 Expanding Available I/O Lines 528 Understanding Port Changing 531 On the Web: Understanding Bitwise Port Programming 533 Chapter 41-Remote Control Systems 534 Build a Joystick “Teaching Pendant” 534 Commanding a Robot with Infrared Remote Control 537 On the Web: Control by Radio Signal 543 Broadcasting Video 543 Part 8-Sensors, Navigation, and Feedback Chapter 42-Adding the Sense of Touch 547 Understanding Touch 547 Mechanical Switch 548 Using a Button Debounce Circuit 555 Debouncing Switches in Software 556 Programming for Bumper Contacts 557 Mechanical Pressure Sensors 558 Experimenting with Piezoelectric Touch Sensors 563 Experimenting with Piezo Film 565 On the Web: Build a Piezo Bumper Bar 568 Other Types of “Touch” Sensors 568 Chapter 43-Proximity and Distance Sensing 570 Design Overview 570 Simple Infrared Light Proximity Sensor 572xviii CONTENTS Modulated Infrared Proximity Detector 574 Infrared Distance Measurement 580 On the Web: Passive Infrared Detection 585 Ultrasonic Distance Measurement 585 Chapter 44-Robotic Eyes 590 Simple Sensors for Robotic Eyes 590 Building a One-Cell Cyclops Eye 594 Building a Multiple-Cell Robotic Eye 596 Using Lenses and Filters with Light-Sensitive Sensors 600 Video Vision Systems: An Introduction 600 Chapter 45-Navigating Your Robot 603 Tracing a Predefined Path: Line Following 603 Wall Following 608 Odometry: Calculating Your Robot’s Distance of Travel 609 Compass Bearings 617 Experimenting with Tilt and Gravity Sensors 619 More Navigational Systems for Robots 624 Chapter 46-Making and Listening to Sound 625 Preprogrammed Sound Modules 625 Commercial Electronic Sound Effects Kits 627 Making Sirens and Other Warning Sounds 627 Using a Microcontroller to Produce Sound and Music 628 Using Audio Amplifiers 630 Sound and Music Playback with a Microcontroller 631 Speech Synthesis: Getting Your Robot to Talk 632 Listening for Sound 634 On the Web: More Sound Projects 637 Chapter 47-Interacting with Your Creation 639 Using LEDs and LED Displays for Feedback 639 Feedback via Simple Sounds 646 Using LCD Panels 646 Robot-Human Interaction with Lighting Effects 649 Chapter 48-Danger, Will Robinson! 655 Flame Detection 655 Smoke Detection 657CONTENTS xix Detecting Dangerous Gas 661 Heat Sensing 664 Robotic Firefighting Contests 665 Finally, Go Out and Do! 665 Appendix A-RBB Online Support 667 You’ll Find . . . 667 Backup Support Site 668 Sources for Special Parts, Web Sites 668 Appendix B-Internet Parts Sources 669 Robotics 669 Electronics 670 Hobby 670 Forums and Blogs 671 More on the Web! 671 Appendix C-Mechanical Reference 672 Decimal Fractions 672 Drill Bit and Tap Sizes-Imperial 673 Drill Bit and Tap Sizes-Metric 674 Numbered and Fractional Inch Drill Bit Comparison 675 Fasteners: Standard (Imperial) Threads at a Glance 675 Comparison of Decimal Inch, Fractional Inch, Mil, and Gauge 676 More on the Web! 676 Appendix D-Electronic Reference 677 Formulas 677 Abbreviations 679 Letter Symbols Used in Electronics 681 Numbering Units in Electronics 681 The Six Most Common Units of Measure in Electronics 682 Resistor Color Coding 683 Wire Gauge 684 Index 685 Index 3D CAD file formats, 158 visualizing design, 156 3D printers, 159 3-DOF wrist, 344 3M adhesive transfer tape, 151 Dual Lock, 148 Dual Lock, for battery pack, 194 Photo Mount, 151 VHB self-adhesive tape, 150 4WD (four-wheel-drive) and 6WD locomotion, 211, 306 linked-drive, construction, 308 separate motor, construction, 307 12-Servo Hexapod, bonus project, 338 754410 motor control IC, 244 abbreviations, in electronics, 679 ABS (plastic), defined, 88 accelerometer dual-axis, 621 accelerometer (Cont.): experimenting with, 621 measuring tilt, 620 as touch sensor, 569 use in robotics, 619 acetal resin, characteristics, 88 Ackermann steering, 212 acrylic, characteristics, 88 acrylonitrile butadiene styrene, characteristics, 88 additive manufacturing, 159 adhesives and glue, introduction to, 136 air pressure sensor, 568 air tools, using, 68 Airtronics, connector style, 256 alkaline battery, 180 allophone, defined, 632 alloy, defined, 107 aluminum, 107 bending, 119 bracket, DC motor mounting, 268 filing, 120 painting, 120 in quick-turn manufacturing, 159 aluminum, extruded, 111 framing, 115 for motor mounting, 269 aluminum electrolytic capacitor, 394 amplifier, audio, 631 amplifying signals, 523 analog comparator, 442 demultiplexer, 531 interfacing, 522 multiplexer, 531 sensors, 513 analog and digital R/C servos, 257, 325 Analog Devices, ADXL dual-axis accelerometer, 621 analog-to-digital conversion (ADC), 442, 436, 526 analog video security camera, 602 sync separator for, 602 vision sensor, 602 analogWrite, Arduino programming statement, 478 And and Or operators, 458 android robot, 19, 320 And truth table, 458 685686 INDEX animatronic devices, 534 annealing, metal treatment for, 110 anode (diode), 395 antistatic conductive foam, 558 ArdBot, bonus project, 475 Arduino circuit boards for use with, 420 custom functions in programming for, 474 flow control, programming with, 476 joystick, 536 microcontroller, introduction to, 463 operating voltage, 466 pin mapping, 467 pins, using, 470 programming, general, 467 programming for switches, 479 serial monitor window, using, 477 serial servo control, 325 shield, printed circuit board layouts, 420 USB connection to, 466 USB fuse protection, 466 arm, robotic cartesian coordinate, 342 construction sets, built from, 350 cylindrical coordinate, 342 degrees of freedom (DOF), 339 electrical actuation, 343 hydraulic actuation, 343 mobile robots, 19 pneumatic actuation, 343 polar coordinate, 341 revolute coordinate, 341 specialty kits, built from, 350 stationary robots, 19 armatures, dolls and teddy bears, 32 articulated joints in nature, 12 art tape, in line following, 604 Atmel ATmega microcontroller chip, 463 ATmega328 microcontroller, 441 audio amplifier, 631 AutoCad, 156 aviation snips, cutting metal with, 115 AVR, serial port, programming through, 526 back EMF, 238 backing board, use when cutting wood, 78 backsaw, cutting with, 64 balance legged robots, 319 static, 328 static and dynamic, 319 tilt sensors, 620 ball bearing construction in R/C servo motor, 255 bases, plastic, from straight cuts, 94 BasicBot, 304 BASIC language BASIC Stamp programming, 500 PICAXE programming, 487 as programming language, 439 BASIC Stamp integrated editor, 505 introduction to, 496 microcontroller, 430 serial servo control, 325 special programming functions, 505 batteries amp-hour rating, 184 brownouts, 184, 207, 228 capacity ratings, 184, 186 characteristics and applications table, 187 common sizes, 187 composition and types, 180 current rating, 184 discharge, 185 environmental concerns, 183 batteries (Cont.): fuse protection, 198 increasing ratings, 189 internal resistance, 186 multimeter, testing with, 366 multiple voltages, 199 recharging, 187 reverse polarity, preventing, 197 safe use of, 44 schematic circuit symbols for, 190 selection, 182 SMA wire, with, 290 solder terminals for, 192 split power supply, 228 table of nominal voltages, 183 using polarized plugs with, 196 voltage monitors, 208 voltage rating, 183 voltage regulation, 184, 201 wiring to robot, 196 batteries, polarity, 197 connectors, 197 electronic protection, 198 mechanical protection, 197 using diodes, 198 batteries, ratings capacity, 184, 186 voltage, 183 batteries, recharging fast-charge, 187 lithium-ion cells (Li-ion), 181 monitoring voltage of, 208 recharger, universal, 181 batteries, sizes, 192 batteries, types alkaline, high-capacity, 180 nickel cadmium, nickel metal hydride, 181 lithium-ion cells (Li-ion), 181 sealed lead-acid, 182 battery holder, 193 9-volt, polarized snap, 194 for in-between voltages, 195 mounting, 194, 196 placement, 195INDEX 687 battery pack from consumer electronics device, 191 custom-made, 192 layouts, 189, 192 premade, 191 for R/C models, 191 rechargeable, 191 recharger table, 192 shrink-wrap, 192 battery test with multimeter, 366 BEAM robotics, 17, 24 bearings, 278 belt drive aligning motors, 308 cogged, 308 plastic molded sprockets, 309 segmented chain for, 308 bendable posing wire, 32 bending metal, 119 bidirectional data communication I2C, 518 Biologically Inspired Robotics Laboratory, 217 Bioloid walking robot set, 11, 323 BioMetal shape memory alloy, 287 bipolar junction transistor (See BJT) bipolar transistor, 239 bird’s-nest circuit construction, 417 bit, 438, 448, 451 bitmap graphics, 154 bitwise port programming, 533 BJT (bipolar junction transistor), 239 Boarduino, Arduino-compatible board, 465 BOE (Board of Education), 498 bounce, switch, 555 bracket DC motor mounting blocks, wood and plastic, 269 DC motor mounting, metal, 268 double-sided, 324 plastic, 136 bracket (Cont.): R/C servo, custom mount, 271 R/C servo, tab mount, 271 R/C servo, for walking robot, 323 using, 135 zinc-plated steel, 135 brains hardwired, discrete components, 428 manually operated, 428 microcontroller based, 429 mini-ITX motherboard, 432 personal computer, 431 single-board computer, 430 Smartphones, tablets, PDAs, 434 USB port, connecting through, 433 variations in, 430 wireless connection, 433 branch, in programming, 449 brass, and robot construction, 108 brass bracket, DC motor mounting, 268 breakdown voltage, zener diodes, 203 bridge module intelligent, 247 interfacing, bonus projects, 248 serial motor control, 246 broadcasting video, 543 brownout, 184, 207, 228 brushed versus brushless motors, 231 BuggyBot (online content), 175 bumper bar, piezoelectric touch sensor, 568 bumper switch, 549 multiple, 551 multiplexer, 553 PISO IC, 554 priority encoder, 552 programming for, 557 bumpers, foam rubber, 32 bump switch, placement in multidirectional robot, 298 bushing, 278 bushings in R/C servo motor, 255 cable clamp, as fastener, 150 CAD (computer-aided design), 156 benefits of, 157 etchable PDF, circuit board design, 421 introduction to, 152, 157 printed circuit board design, 418 shapes stacking order, 159 CadSoft, Eagle PCB software, 419 CA glue (cyanoacrylate adhesive), 97, 139 Caidin, Martin, author, 16 calculating capacitance and resistance, 678 calculating speed for wheel diameter, 301 Call and Return programming statements, 454 Cameron, Russell, 597 capacitance, calculating, 678 capacitors, 390 applications, 393 calculating capacitance, 678 capacitance value, 392 decoupling, 200, 206 dielectric breakdown voltage value, 393 dielectric material, 391 dielectric material, table of, 394 microfarads, measured in, 391 for noise suppression, 200 polarized, 393 rating, capacitance, 391 rating, dielectric breakdown voltage, 391 value reference table, 392 in voltage regulation circuits, 206 Capek, Karel, 28 carbon-zinc battery, 180688 INDEX cardboard cutting, 146 heavy-duty, 145 screws and nuts, using, 148 cartesian coordinate arm, 342 car-type steering, 212 Case Western Reserve University, 217 casters ball, 303 placement, 298 selection, 303 stability, 303 swivel, 302 cathode (diode), 395 CD players, robotics parts from, 36 CdS (cadmium sulfide) photocell, 390, 591 input, interface for, 524 CDs and DVDs, as robot bodies, 171 celluloid, as early plastic, 87 Celtec, plastic, 91 central processing unit (CPU), in microcontroller, 442 ceramic, dielectric, 394 Chaney Electronics Theremin kit, 627 circuit board, 414 Arduino-specific boards, 420 cleaning, 415 dead bug wiring, 417 etchable PDF, from CAD, 421 lead-to-lead construction, 417 options for creating, 420 PCB CAD, creating with, 418 perf board construction, 416 printed, 418 proto boards, using, 422 solder breadboard, 415 stripboard, 417 wire wrapping, 422 wire wrapping tools, 423 wire wrap sockets, 417 circuit design best practice, 377 decoupling capacitors, 200, 206, 378 circuit design (Cont.): resistors, pull-up/pull-down, 378 wire length, 379 circular saw, cutting with, 65 clamping and taping clamps and vises, using, 63 glued joints, 141 clevis ends, 276 clip-on jumpers, 377 CMOS integrated circuits, and electrostatic discharge, 45 CMUcam vision sensor, 602 code block, in Arduino programming, 469 codewheel, in odometry, 609 collision avoidance, 570 color code chart, resistor, 682 combat robot, 18 relays with, 405 comments, 452 in Arduino programming, 473 in BASIC Stamp programming, 502 in PICAXE programming, 488 communicating with lighting effects, 649 with lights, 639 with sounds, 646 text display, 646 communications, interconnectivity, 433 commutator, in DC motor, 231 compass, electromagnetic, 617 programming sensors, 619 compiling, in programming, 453 compliance, 301 components, building blocks as, 6 computer-aided design (See CAD) computer control hardwired, discrete components, 428 manually operated, 428 microcontroller-based, 429 mini-ITX motherboard, 432 computer control (Cont.): personal computer, 431 single-board computer, 430 Smartphones, tablets, PDAs, 434 USB port, connecting through, 433 variations in, 430 wireless connection, 433 computer mice, as robot bodies, 171 conditional expressions, 449, 453 in Arduino programming, 476 in BASIC Stamp programming, 502 in PICAXE programming, 490 conductive foam, 558 connectors, 375 clip-on jumpers, 377 custom-made, male and female, 375 Conner, Sarah, 17, 288 constants, in programming, 451 construction foam, 146 construction materials comparison, 50 selection of, 49 selection table, 52 construction plans, basics of, 60 contact area, touch sensor, 549 contact bumper, 549 contact cement glue, 137 continuity test with multimeter, 366 continuous rotation R/C servo motor, 261 controlling outputs with Arduino, 479 with BASIC Stamp, 502 PICAXE, 494 controlling R/C servo with Arduino, 473 with BASIC Stamp, 508 with PICAXE, 493 coping saw, cutting with, 64INDEX 689 copper craft and hobby store, 113 robot construction, 108 corrugated plastic as a construction material, 145 cutting, 146 counters, timers, in microcontrollers, 442 couplers, 278 flexible, custom-made, 281 ready-made, 278 rigid, flexible, 278 standoffs and threaded, 280 tubing, custom, 279 C programming language, 440 with Arduino, 467 current limiting, interfacing for, 521 Ohm’s law, 387 sinking, 515 sourcing, 515 current draw amp-hours, 184 brownout, 207 current sense, 244 digital multimeter, using, 199 fuse protection, 199 of motors, 222 rating of batteries, 185 stalled, DC motors, 232 voltage drop, 228 custom battery packs, making, 192 cutting basics, 64 circles, 73 circuit boards, 416 controlling the depth, 66 creating a layout for, 152 laser cutter, 158 miter box, using, 76 square into other shapes, 73 substrate sheets, 146 tool choice and speed table, 65 wheel wells, 74 cutting techniques for metal, 114 for plastic, 91 for wood, 72 cyanoacrylate adhesive (CA), 164 using, 139 cybernetic anthropomorphous machine (cyborg), 16 cyclops eye, construction of, 594 cylindrical coordinate arm, 342 DAGU Electronics, multiple-cell robotic eye, 597 data input, 450 output, 450 selector, 530 storage, 433 data conversion analog-to-digital, 526 digital-to-analog, 527 data demultiplexer, 528 data type in Arduino programming, 470 constants, 451 expression, 451 literals, 450, 456 number limits table, 451 variables, 451, 469 Dave Brown Lite-Flight wheels, 299 DC motors, 220, 230 from junkyards, 35 motor control, H-bridge, 244 from surplus, 35 dead band, in R/C servos, 260 dead bug wiring, 417 debounce circuit software in microcontroller, 556 touch sensor, 555 decimal fractions, table of, 672 decoupling capacitor, 378 as motor noise filter, 229 uses for, 200, 206 degrees of freedom (See DOF) Delrin, 88 demultiplexer (demux) analog, 531 binary control signals, table for, 528 desktop robot, 17 relays in, 405 detracking, derailing, 317 Devantech CMPS09 compass, 618 SRF05, 265, 587 dielectric (capacitor) materials, 391 differential steering 4WD robot, 306 BasicBot, 304 defined, 211 switch-controlled, 234 track steering, 215 wheel traction, 300 digital multiplexer, 530 digital proportional motor (R/C servo), 252 digital R/C servos, 257 digital sensors, 512 digital-to-analog conversion, 527 digital video, 600 CMUcam, 602 Webcam, 600 Dinsmore 1490 compass, 617 Dinsmore Sensors, 617 diodes, 394 applications, 396 for battery polarity protection, 198 common anode, cathode, LEDs, 398 current rating of, 395 flyback, in MOSFET motor bridge, 243 flyback, in motor control circuits, 240 forward voltage drop, 395 incremental voltage drop, 396 laser, 395 LEDs, 396 light-emitting, 395 peak inverse voltage rating, 395 photo, 394 polarization of, 395 ratings of, 395 rectifier, 394 reverse polarity protection, 396 Schottky, 394690 INDEX diodes (Cont.): voltage regulation, 202 zener, 394, 522 DIP (dual in-line package), 401 direct motor current measurement, 225 discharge rate of batteries, 185 discrete components, 428 distance and proximity senses, overview, 26 distance sensor defined, 572 depth and breadth, 572 far-object detection, 572 infrared light, 580 judgment sensor, 582 position-sensitive device (PSD), 580 ultrasonic, 572 wall following, 608 DOF (degrees of freedom) arm, robotic, 340 defined, 19, 320 leg joints, 320 operating terrain, 321 wrist, 344 double-sided adhesive tape, for battery pack, 194 double-sided foam tape, using, 149 DPDT switch, for motor control, 233 drill bit selection and use, 60 types and use, 55 drill bit and tap sizes imperial, table of, 673 metric, table of, 674 drill chuck, 55 using, 62 drilling aligning holes, 62 basics of, 60 controlling hole depth, 62 creating layout for, 152 metal, 116, 118 plastic, 93 setting proper speed, 61 speed and bit table, 63 wood, 78 drill press, and metalworking, 117 drills, electric, 55 drive geometry, definition of, 209 drivetrain components, table of commonly used, 277 dual in-line package (See DIP) Dual Lock, by 3M, 148 Du-Bro foam tires, 275 Duemilanove Arduino, 463 durometer, of wheel material, 299 DWG, DXF (file formats), 158 Dynalloy Flexinol, 287 EEPROM data storage, in microcontrollers, 442 electrical metallic tubing (See EMT) electrical noise from motors, 229 electric drills, robot construction and, 55 electric light kits incandescent, 32 low-voltage LEDs, 32 electric shock and first aid, 48 electronic circuit, ground in, 190 electronics abbreviations used in, 679 letter symbols used in, 680 numbering used in, 680 units of measure used in, 681 electronics parts sources, list of, 670 electrostatic discharge (See ESD) emitters/detectors layout, 606 mounting, 612 EMT (electrical metallic tubing), 113 strap for motor mounting, 269 encoders, optical conditioning, 613 mounting, 612 multimeter, testing with, 614 in odometry, 609 encoders, optical (Cont.): quadrature, 614 reflective disc, 609, 610 resolution, 611 transmissive disc, 609, 611 types, 609 end effector (grippers), defined, 19 robotic, 352 endless round belts, 277 environment settings, PICAXE programming, 487 EPS (Encapsulated PostScript), 158 Erector set, 160 gears in, 286 as robotic parts, 10 ESC motor speed controllers, 247 ESD (electrostatic discharge) defined, 45 prevention of, 45 etchable PDF, 421 expansion board, Arduino, 465 expressions order of precedence, 459 in programming, 448, 451, 456 extension arm, 354 eye injury and first aid, 48 eye protection, 369 eyes, for dolls, teddy bears, 32 eye sensors, 590 farads, as unit of measure, 391 far-object detection, 572 fasteners basic hardware, 57 best selection for robotics, 134 brackets, using, 135 cable clamp, 150 double-sided foam tape, 149 drive styles, 132 head styles, 131 hook-and-loop, 148 introduction to, 129 machine screws, 131 machine screws, self-tapping, 134INDEX 691 fasteners (Cont.): nuts, using, 132 plastic ties, 149 screws, wood and sheet metal, 131 semipermanent, 147 sizes, imperial and metric, 130 tape, 149 tapping threads for, 134 Velcro, 148 washers, using, 133 FDM (fused deposition modeling), 159 feedback with lights and sound, 639, 646 filing, metal, 119 fingers flexible, 359 parallel, 355 FIRST (For Inspiration and Recognition of Science and Technology), 11 Tech Challenge kit, 11 first aid, and project safety, 47 Fischertechnik, 161 flame detection, 655 fire flickering, 656 infrared heat, 656 ultraviolet light sensors, 656 flash, burrs, metal finishing and, 119 flash program storage, in microcontrollers, 442 flat washers, 133 Flexinol (shape memory alloy), 287 flex resistor, as pressure sensor, 562 flex sensor, force-sensitive resistor, 390 flippers, locomotion with, 217 flow control in Arduino programming, 476 in BASIC Stamp programming, 502 in PICAXE programming, 490 flowchart, in programming, 447, 487 in PICAXE, 487 flush wire cutters, 369 foamboard, 32 cutting, 146 screws and nuts, using, 148 used in rapid prototyping, 145 Foam Core, 145 foam PVC, 90 foam rubber sheets, 32 Forbidden Planet, 14 force-sensitive resistors, 390, 561 forklift, robotic, cylindrical coordinate work envelope, 342 Forrest Mims Engineer’s Notebook, 524 forums and blogs sources, list of, 671 found parts, explanation of, 170 frame assembly, 77 constructing using metal, 116 constructing using plastic, 95 construction steps for, 76 metal materials for, 115 miter box, using, 76 from PVC irrigation pipe, 171 Frankenstein likened to robotics, 3 nuts and bolts to keep head on, 129 Freeduino, Arduino-compatible board, 465 Fritzing, ECAD software, 420 full-bridge (motor control), 241 fused deposition modeling (See FDM) fuse protection multimeter, 365 resettable PPTC, 199 selection of, 199 slow-blow glass-type, 199 Futaba connector style, 256 drive sprockets, plastic, 316 Futaba (Cont.): S3003 servo, modifying for continuous rotation, 264 gait (walking) alternating tripod, 327 defined, 327 hexapod, 328 metachronal, 327 gates, defined, 236 gauge as metal thickness measurement, 109 wire, 370, 682 gear reduction, 284 gears, 277 4WD robots, 308 function, 283 gearbox, gears in, 283 introduction to, 283 reduction ratio, 284 specifications, 285 types of gear teeth, 285 gear trains, 283 used in R/C servo, 254 germanium diode, 395 global declaration, in Arduino programming, 469 global positioning satellite (See GPS) Global Specialties EXP-350 solderless breadboard, 412 glue construction toys, 163 cross-reference table of, 143 cyanoacrylate adhesive, 139 dots, sticks, transfer tape, 150 hot, for plastics, 98 hot-melt, 140 household adhesive, application of, 98 introduction to, 136 joints, reinforcing, 141 mounting R/C servos, 271 paper, 32 plastic bonding, characteristics table, 97 for plastics, 96692 INDEX glue (Cont.): RTV adhesive, silicone-based, 164 setting and curing, 136 Shoe Goo, 164 solvent cement, application of, 97 Super Glue, 137 two-part epoxy, 137, 138 gm-cm motor specification, definition of, 224 Google Sketch, 155 GPS (global positioning satellite), 624 graphics programs, creating layouts with, 154 gripper bonus projects, 359 defined, 19 plastic tool clamp, construction of, 356 robotic, 352 two-pincher, advanced, 354 two-pincher, basic, 353 two-pincher, parallel, 355 grit, defined, 79 ground, defined, 190 ground loop, prevention of, 379 GWS, S-35 continuous rotation servo, 261 gyro sensors, 621, 624 hacking, of hardware appliances for robotics parts, 35 First Alert smoke alarm, 658 mini 4WD trucks, 166 mouse, encoder wheels, 611 R/C vehicles, 166 smoke detector, 658 snowmobile, metal treads, 310 sources for gears, 286 toy extension arm, 354 toys and kits, 165, 166 toy tanks, treads, 310 hacksaw, 64 cutting metal, 114 robot construction and, 55 half-bridge, 237 Hamamatsu R2868 Flame Detector UVTron sensor, 656 hardening, metal treatment for, 110 hardwood versus softwood, 69 H-bridge, 241, 244 for BASIC Stamp, 507 MOSFET transistor, using, 242 in R/C vehicles, 166 HDPE, defined, 88 heat sensor, 568, 664 heat treating metal, 110 Heinlein, Robert, 15 Hewitt, Robin, 601 Hex3Bot robot, 9, 328 hexagon, bases, 73 Hitec connector style, 256 HS-422, modifying for continuous rotation, 262 R/C servos, 254 hobby parts sources, list of, 670 holonomic steering, 213 Honeywell C7027 flame detector, 656 hook-and-loop fasteners, 148 hot-melt glue, 140 household glue applying, 138 characteristics, 137 household plastics, constructing robots from, 98 humanoid robot, 320 defined, 19 hydraulic power arm actuation with, 343 robotics use of, 24 Hyzod (plastic), 88 I2C interface, 518 IDE (integrated development environment), 467 in Arduino programming, 468 idler wheels, 278 in-circuit programming, of microcontrollers, 444 indirect motor current measurement, 226 in-field programming, of microcontrollers, 444 infrared detector adjusting sensitivity, 573 gripper, mounting on, 573 infrared distance sensor, 580 analog or digital, 582 analog output ranging, 583 beam width, 581 coding, 584 distance judgment, 582 electrical hookup, basic, 582 working distance, 581 using, 583 infrared emitter/detector pairs, 606 infrared light proximity sensor, 572 infrared proximity detector (See IRPD) infrared receiver/demodulator, 538 PICAXE, interface for, 538 infrared remote control, 537 DC motors, 541 operating robot, 542 universal, 537 Inkscape, 158 using for layout, 155 input analog interfacing, 522 buffer, 521 current-limiting interface, 521 digital, 520 direct connection, 520 protection with zener diode, 522 sensors, 514 signal amplification, 523 switch, 520 input, adding more demultiplexer, 528 multiplexer, 529 serial-to-parallel shift register, 528 integer data type, 452INDEX 693 integrated circuits dual in-line package (DIP), 401 identifying, 401 microcontroller, 402 integrated development board, 441 integrated development environment (See IDE) internal resistance of batteries, 186 Internet parts sources, list of, 669 interrupts, in microcontrollers, 442 Inventa, gear sets, 286 invertible robot, PlyBot as, 85 iRobot Create platform, 10 IRPD (infrared proximity detector), 574 enhanced circuitry, 578 microcontroller, connecting to, 576 modulated, 574 using auxiliary microcontroller, 577 jigsaw, cutting with, 65 JohnnyRobot plastic treads, 310, 316 joint, reinforcement of, 141 joystick, 534 analog, IBM PC, 535 Arduino, 536 buttons, table for, 535 teaching pendant, 535 USB, 535 jumper wires, solderless breadboard, 409 K&S Engineering metal structural components, 116 kerf, defined, 66 K’NEX, constructions with, 163 L293D motor control IC, 244 table, 246 L298 motor control IC, 246 laser cutting, 158, 159 layout computer programs, 154 direct, 153 paper, 153 paper, copying, 153 paper, transfer, 154 lb-ft motor specification, definition of, 224 LCD (liquid-crystal display) panel characteristics, 647 interface types, 647 text display, 646 lead-free solder, 372 leaf switch touch sensor, 548 LED (light emitting diode), 396 in Arduino programming, 471 colors, 397 common anode, cathode, 398 feedback circuit with, 639, 641 flashing patterns, 640 forward voltage drop, 386 limiting current to, 386 multicolor, 651 as photodiode, 593 powering, 397 size, shape, output, 397 specifications, 396 LED, infrared optical sensor, 604 resistor values, 605 LED display feedback, 642 numerals, displaying, 642 pictures and shapes, displaying, 644 LEGO balloon tires, 275 bricks, 88 constructions with, 163 gears in, 286 motor and component mounting, 164 Technic, rubber tank treads, 311 legs balance, 319 brackets, R/C servo, 323 legs (Cont.): locomotion with, 210, 216 multisegment, 217 operating terrain, 321 power supply, 324 R/C servos, 324 with SMA linear actuation, 293 X-Y joint, 322 lenses and filters, using, 600 lever switch, as touch sensor, 548 Lexan (plastic), 88 library code, in Arduino programming, 469 light-emitting diode (See LED) light feedback, 639 lighting effects, 649 bonus projects, 654 multiple LEDs, 650 superbright and ultrabright LEDs, 650 light sensor cyclops eye, building, 594 lenses and filters, 600 light-receptive robot, 595 light spoilage, 599 multiple-cell robotic eye, 596 optical filtration, 593 photodiodes, 593 photophilic and photophobic, 596 photoresistors, 591 spectral response, 593 light spoilage, 599 with optical encoders, 613 lightweight composites, as a construction material, 51 LilyPad Arduino microcontroller board, 465 linear voltage regulation, 204 line following, 603 emitters/detectors layout, 606 optical sensors, 604 programming, 607 reflective tape, 604 liquid-crystal display panel (See LCD panel) literal data type, 456694 INDEX literals, in programming, 450 LM34 temperature sensor, 664 LM386 audio amplifier IC, 631 LM1881 sync separator IC, 602 lock washers, 133 locomotion drive and mechanical considerations for, 209 legs, 23, 318 techniques in robotics, 209 tracks, 23 wheels, 22 logical 0, LOW and HIGH, definition, 235 logic probe, 368 loop, in programming, 449, 455 Lost in Space robot, 14 Lovejoy three-piece jaw coupler, 278 Lucite (plastic), 88 Lynxmotion arm kits, 350 Phoenix, 18 plastic treads, 310 Servo Erector Set, 10 wheel flange, 274 X-Y joints, 323 Mabuchi FA-130-size motor, 306 machine screws, 131 machine vision, 600 magnetic encoder, 609 Magnevation SpeakJet, 632 Mars Rover Sojourner, 15 mat board, as construction material, 146 math operators, table of, 457 McMaster-Carr ball caster/transfer, 80 casters, 303 double-sided foam tape, 150 industrial-grade fasteners, 148 MDF (medium-density fiberboard), defined, 72 Meccano, 160 mechanical construction, techniques for, 59 mechanical encoder, 610 medium-density fiberboard (See MDF) melting plastic, toxic fumes from, 45 metal bending, 119 characteristics and applications table, 110 conduit, 113 as construction material, 51 cutting using backsaw and miter box, 116 extruded aluminum, 111 heat treatments, 110 measuring thickness of, 109 painting, 120 properties, and thickness, 109 summary of use in robotics, 107, 111 tapping holes in, 118 where to find, 110 metal, properties alloys, 107 stress, 119 thickness, 114 metal finishing filing, 119 painting, 120 removing flash and burrs, 119 sanding, 120 metal oxide substrate, 45 Metropolis (movie), depiction of robots in, 21 microcontrollers Arduino, 463 Arduino, low-level programmable, 439 AVR programming, 445 BASIC Stamp, 496 BASIC Stamp, integrated language programming, 439 debounce delays, 556 form factors, 440 hardware interrupts, 442 input/output pins, 442 integrated development environment, 467 integrated-language programmable, 439, 482 microcontrollers (Cont.): low-level programmable, 439 output interface, 519 parallel interface, 516 PICAXE, 482 PICAXE, integrated-language programmable, 439 pin functions, 443 programmers for, 438, 444 programming in-field, 444 programming languages, 446 programming limitations of, 443 programming steps, 440 programming, one-time, 444 R/C servo, controlling, 258 serial-based hardware, interfacing with, 518 serial communications, 517 serial interface, 517 SMA, actuating, 290 speed, 445 types of, 437 USB, connecting through, 525 microcontrollers, programming languages BASIC, 439 C, 440, 467 Pascal, 440 microcontrollers, use in robotics, 437 micrometer, machinist, 109 microphone amplifier, 635 best placement for, 635 electret condenser, 635 as touch sensor, 569 Microswitch, 548 Mims, Forrest M., III, 524 mini-ITX motherboard, 432 Mini T-bot, constructing, 172 miter box, and frame assembly, 76 MIT HandyBoard, 431 mobile robots (comparison to stationary), 13 modulated light, use in IRPD sensor, 574INDEX 695 modules, robotics as building– blocks, 6 Mondo-Tronics Muscle Wire, 287 MOSFET transistors, 240, 241 defined, 241 electrostatic discharge, 45 H-bridge, 242 N-channel, P-channel, difference in, 242 switch motor control, 241 most significant bit (See MSB) motion detection sensor, accelerometer, 623 motors 4WD robot, 307 AC, DC explained, 219 centerline drive mount, 298 common drivetrain components, 277 continuous, stepping motor explained, 220 current draw, 222 front-drive mount, 298 gear reduction, using with, 286 holes for, 267 loading, 222 linked drive or separate motors, 307 main specifications, 221 micro-miniature and PlastoBot, 102 mounting brackets, 268 noise with, 200, 229 operating voltage, 221 R/C servo, mounting, 270 servo, 220 shaft types, 282 speed, RPM, 222 Tamiya worm gear, 80 testing current draw, 224 torque, 223 motors, DC Arduino, using with, 479 BASIC Stamp, controlled by, 507 bridge module control, 244 brushed and brushless, 231 motors, DC (Cont.): drivetrain components to shaft, mounting, 272 ESC motor speed controllers, 247 MOSFET transistor, controlled by, 241 mounting techniques, 266 permanent magnet, 230 PICAXE, remote control, 541 pulse width modulation, 478 ratings, 232 relay controlled, 234 relay half-bridge, 237 reversible, 231 serial control, 246 speed, controlling, 247 switch, controlled by, 232 transistor, control, 239 transistor, full-bridge, 241 wheels, mounting, 273 motors, gearbox, 283 motors, R/C servo analog and digital, 325 Arduino, 473 BASIC Stamp, controlled by, 508 controlling, 258 drivetrain components to shafts, mounting, 272 lubrication, 277 mechanical linkages, attaching, 276 modified, 261 modified, limitations of, 265 mounting, 270 PICAXE, controlling with, 493 serial controller, 325 torque ratings, 326 wheels, mounting, 274 MOVITS robot kits, 165 MP3 file sound playback, 631 MSB (most significant bit), 451 multimeter accuracy, 365 batteries, testing, 366 continuity test, 366 functions, 365 introduction to, 363 multimeter (Cont.): optical encoders, testing, 614 potentiometers, testing, 389 range, selecting, manual or automatic, 364 resistor, verifying value of, 367 resistors, testing value of, 384 safeguards, 367 testing, 366 test leads and supplies, 365 using, basics, 366 multiple-cell robotic eye, 596 testing program, 597 multiplexer, 529 analog, 531 bumper switches, controlling, 553 digital, 530 multisegment legs, locomotion with, 217 Muscle Wire (shape memory alloy), 287 music, output, 629, 631 mux (data multiplexer), 529 My First Robot, directions to, 667 nail plate, as robot construction material, 124, 174 navigational sensor, 624 N-channel, P-channel MOSFET, difference in, 242 near-object detection, 571 netbook, used in robotics, 432 nibbler tool, cutting metal with, 115 NiCd battery, 181 nickel cadmium (NiCd) battery, 181 nickel metal hydride (NiHM) battery, 181 Nickel Titanium Naval Ordnance Laboratory (Nitinol), 287 Nitinol, 287 N-m motor specification, definition of, 224 noise, electrical decoupling capacitors for, 200, 206696 INDEX noise, electrical (Cont.): ground loops, 379 prevention of, 378 nominal battery voltage, 183 noncontact sensing, 570 nonholonomic steering, 213 nonslip surfaces, and foam rubber, 32 noxious gas detector, 661 location, 663 specific gravity table, 663 warm-up period, 662 Nubotics Wheel Watcher, 616 numbered and fractional drill bits, table of, 675 Number Five, example robot using tracks, 215 numbering units, electronics, 680 number limits of data types, table of, 452 numeric values in programming, 449 signed and unsigned, 451 nut drivers, robot construction and, 56 nylon, characteristics, 88 octagon, bases, 73 odometry, 609 calculating distance and speed, 610 errors, understanding, 617 pulse accumulator, 612 odometry codewheel mounting, 612 quadrature encoding pulses, 614 reflective and transmissive, 610 resolution of, 611 ohm, 382 Ohm’s law, 387, 677 calculations, zener diode, 203 in measuring motor torque, 227 and resistors, 387 Oilite bushing, 255 omnidirectional steering, 214 one-time programmable microcontroller (See OTP) operating voltage of motors, 221 optical encoder, 609 optical filtration for light sensors, 593 optical sensor line following, 604 mounting, 612 opto-isolator, 521 order of precedence, operators, 459 Or truth table, 458 oscillation, floating voltage, 378 oscillator, voltage-controlled (VCO), 531 OTP (one-time programmable microcontroller), 444 output motors, 514 power-handling requirements, 515 sound and voice, 515 visual indication, 515 output interface, and microcontrollers, 519 OWIKIT robot kits, 165 oz-in motor specification, definition of, 224 pads, foam rubber, 32 painting metal, 120 plastic, 98 wood, 79 paper foil, capacitor dielectric, 394 Parallax BASIC Stamp, 496 BOE-Bot robot kit, 429 Continuous Rotation Servo, 261 noxious gas detector, 661 Ping, 265 servo motor, modified, 124 parallel interface communications, 435 LCD panels, 647 microcontrollers, 516 parallel-to-serial port changing, 531 parts from craft stores, 32 from hobby and model stores, 31 from online robotics retailers, 31 parts storage antistatic, 46 organization, 37 Pascal programming language, 440 PBasic, 496 BASIC Stamp, 500 special functions, 505 PCB (printed circuit board), 418 PC motherboard, use in robots, 430 peak inverse voltage, 395 pentagon, bases, 73 permanent magnet motor, 230 personal computer (PC) Mini-ITX, 432 Mini-ITX motherboard, 432 netbook, mounted on robot, 432 USB port, 433 use in robots, 430 Perspex (plastic), 88 Philips head screws, 132 photocell, 390 photodiodes, as light sensors, 593 photophilic and photophobic reactions, 596 photoresist, 418 photoresistors in fire detection, 656 light sensors, 390, 591 line following, 605 phototransistors flame detection, 656 light sensors 592 mounting for odometry, 613 optical sensors, 604 resistor values, 605 PIC (programmable integrated circuit), 496INDEX 697 PICAXE 08M, 577, 578 08M, introduction to, 485 18M2, introduction to, 486 BASIC language, 487, 488 functions for robotics, 492 infrared proximity detector, enhanced, 578 infrared proximity detector, simple, 577 introduction to, 482 pins and legs, 483 program construction, 489 remote control, 539 serial port connection, 484 serial port, programming through, 526 piezoelectric film, 565 bend sensor, constructing, 567 leads, attaching to, 566 as mechanical transducer, 566 piezoelectric touch sensor, 563 experimenting with, 563 interface circuit, building, 564 pillow block, couplers with, 281 pin jumpers custom, 410 solderless breadboard, 410 pin mapping, Arduino, 467 pins (inputs, outputs) Arduino, 470 BASIC Stamp, 498, 502 expanding, 528 PICAXE, 483 PISO (parallel-in, serial-out) IC, 532 bumper switches, controlling, 554 pitch, of gears, 285 Pitsco TETRIX, 11, 350 X-Y joints, 323 planking (wood), use in robots, 71 plastic bending and forming, 96 characteristics and usability table, 89 plastic (Cont.): as construction material, 50 finishing, 96 frames with, 95 painting, 98 ties as fasteners, 149 varieties, 87 plastic bases, from straight cuts, 94 plastic project boxes, 171 PlastoBot construction of, 100 design variations, 105 introduction to, 100 using, 104 Plexiglas (plastic), 88 pliers, robot construction and, 55 PlyBot cutting and drilling, 81 introduction to, 80 using, 85 plywood thickness table, 70 use in robots, 70 pneumatic power arm actuation with, 343 use in robotics, 25 pneumatic shears, cutting metal with, 115 point-to-point perforated circuit board, 416 polar coordinate arm, 341 Pololu casters, 303 DC motors, 165 FA-130-size motor, 306 miniature motors and wheels, 101 motor kits, mounting, 266 servo motor, modified, 124 polycarbonate, characteristics, 88 polyester polypropylene, as dielectric material, 394 polyethylene, characteristics, 88 polystyrene, characteristics, 88 polyvinyl chloride (PVC), characteristics, 89 port changing, 531 posing wire, bendable, 32 position-sensitive device (See PSD) potentiometer Arduino, wiring, 471 interface for, 524, 388 multimeter, testing with, 389 rating, value, 390 taper, 388 used in R/C servo motor, 253 using, 389 powder coating, 121 power MOSFET transistor, 241 power sources for robotics, review of, 179 power systems used in robots, 24 power tools, using, 67 PPTC fuses, 199 pressure angle, of gears, 285 pressure sensitivity, 548, 558 pressure sensor, 558 antistatic conductive foam, 558 microcontroller, connecting to, 560 on/off pressure pad, 561 reading resistance, 559 printed circuit board (See PCB) priority encoder, bumper switches, controlling, 552 programmable integrated circuit (See PIC) programming And truth table, 458 assigning value to variable, 455 bitwise port, 533 branch, 449 bumper switches, 557 call and return statements, 454 C language, case statement, 454 code block, 469 code library, 469 comments in, 452 conditional branching, 490 conditional expression, 453 conditional statement, 449698 INDEX programming (Cont.): data input/output, 450 electromagnetic compass sensor, 619 environment settings, 487 expressions, 448, 456 flowchart, 447, 487 for/next statement, 454 fundamentals, 446 global declaration, 469 Go statement, 454 if statement, 453 integer, 452 languages for microcontrollers, 446 line-following robot, 607 loop, 449, 454, 455 numerical values, 449 Or truth table, 458 PBasic, 500 PICAXE, remote control, 539 PICAXE BASIC, 488 pulse counting, odometry, 614 routine, 447 Select Case, 453 simulator, PICAXE, 487 sketch, Arduino, 468 source code, 453 string, 449 strings, using operators with, 458 syntax checker, 487 ultrasonic distance sensor, 587 unconditional branching, 454 variables, 447 While/Wend statements, 455 programming microcontrollers, steps in, 440 programming, operators And and Or, 458 math, 457 multiple, 459 order of precedence, 459 relational, 457 string, 458 proto shield, for Arduino, 465 prototype quick-turn, 159 rapid, 144 proximity sensor adjusting sensitivity, 573 defined, 571 gripper mounted on, 573 infrared light, 572 wall following, 608 PSD (position-sensitive device), defined, 580 pseudo-code, 446 pull-up resistor, 516 pulse accumulator, and measuring distance, 612 pulse and frequency management, 436 pulse counter measuring distance, 612 programming for odometry, 614 pulseIn Arduino programming statement, 478 pulse width modulation (See PWM) pushrod, 276 PVAc glue, 137 PVC benefits of, 90 defined, 89 foam, 90 rigid expanded, 90 sheets, common thickness of, 91 as substrate, 91 weight and thickness table, 91 PWM (pulse width modulation), 252, 436, 247 defined, 244 sound produced with, 628 quadrature encoding, 615 quick-turn prototyping, 159 R2-D2 robot, 14 radio-controlled vehicles, hacked for parts, 166 radio frequency navigation sensors, 624 radio signal remote control, 543 RAM and EEPROM data storage, in microcontrollers, 442 RAM data storage, in microcontrollers, 442 rapid prototyping, 144 razor saw, cutting with, 65 RBB online support, main entry, 667 R/C servo, 220, 249 analog, digital, 257 Arduino, using with, 473 ball bearing construction, 255 basic control, 249 brackets, mounting with, 270 components used inside, 250 connectors and wiring, 256 continuous rotation, 260, 261 controlling speed of, 252 dead band, 260 drivetrain components to shaft, mounting, 272 general specifications, 255 glue, mounting with, 271 horns for, 272 limiting rotation, 251 linear movement, controlling, 276 mechanical linkages, attaching, 276 microcontroller, controlled by, 258 modifying, 261 pulse, controlling by, 251 pulse duration modulation, 252 pulse width range, 252 recommended voltage, 259 screws, mounting with, 270 sensor turret, 265 serial controller, 259 transit time, 255 types and sizes, 253 rechargeable/nonrechargeable batteries, 180, 191 alkaline, 181INDEX 699 relational operators, table of, 457 relay characteristics, 404 common types, 404 driver electronics, 238 motor control, 234 motor direction control, 236 motor on/off control, 235 rating, 405 specifications for, 238 remote control, 534 broadcast video, 543 infrared, 537 joystick, 534 radio signal, 543 teaching pendant, 535 telerobotics, 543 RepRap, 159 repurposing parts, 35 bicycle wheels, 299 CDs, 171 computer mice, 171 consumer electronics device, battery pack, 191 Erector set, 160 Fischertechnik, 161 flooring and countertop samples, 175 joystick, 534 K’NEX, 162 LEGO Technic, rubber tank treads, 311 metal hardware parts, 172 plastic tool clamp, 356 plumbing supplies, 176 radio-control, battery packs, 191 skateboard/inline roller skate wheels, 275 solderless breadboards, 171 storage containers, 170 from toys, 167 trash cans, 170 TV remote control, 537 wheelbarrow wheels, 300 wheelchair wheels, 299 resistance calculating, 678 Ohm’s law, 387 resistors calculating resistance, 678 color code table, 383, 682 dividing voltage, 385 fixed, 382 force-sensitive, 390, 561 limiting current, 385 limiting current, Ohm’s law calculation, 388 multimeter, testing value, 367 photoresistors, 390 potentiometers, 388 power dissipation, 384 pull-up, 516 rating, unit of value, 382 series, potentiometers, 389 series connection, 385 value, testing of, 367, 384 value tolerance, 383 variable, 388, 390 wattage, 384 Restriction of Hazardous Substances (RoHS), 379 reverse polarity protection, and diodes, 396 reversible motor, 231 revolute coordinate arm, 341 construction of, 345 Revolution Education PICAXE microcontroller, 483 revolutions per minute (See RPM) rigid expanded PVC, 90 Robby the Robot (Forbidden Planet), 14 RoboRealm vision analysis software, 601 robot definition, 16, 27 first use of term, 28 (see also robots) Robot B-9 (Lost in Space), 14 as example of robot using tracks, 215 robot bases metal, 114 plastic, 93 wood, 72 robota, 28 Robot Builder’s Bonanza online support (See RBB online support) robot-human interaction, 639 lighting effects, 649 robotic eyes, 590 robotic senses, overview, 25 robotics parts sources, list of, 669 robot locomotion systems, defined, 209
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