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FIGURE 418
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Pulse width values used to control a modified servo
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the clockwise direction, with 151 ms being the slowest speed and 200 ms being the fastest
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Mechanical Construction of Frogbotic
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The construction of the robot frog will begin with the robot s body The parts needed for the mechanical construction are listed in Table 42
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TABLE 42
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Parts List for Frog Robot Mechanical Construction
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Parts 1/2-inch 1/8-inch aluminum stock
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Quantity 4 feet, 2 inches 12-inch 2 inches 2 39 8 23 23 16 2 2 12-inch piece
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1/16-inch thick aluminum stock 1/4-inch 1/4-inch aluminum stock
1/4-inch diameter nylon feet 6/32 6/32 1/2-inch machine screws 3/4-inch machine screws
6/32 nuts 6/32 lock washers 6/32 locking nuts Standard R/C servo modified 3/8-inch diameter 5/8-inch spring
4 / Frogbotic: Build Your Own Robotic Frog
The body is constructed using a piece of 1/16-inch thick aluminum cut to a size of 4 7 inches Use Figure 419 as a guide to cutting and bending the aluminum piece When the piece has been cut, use a file to remove any rough edges Use Figure 420 to measure and mark where all of the holes are to be drilled Drill each of the holes with a 5/32-inch drill bit, except for the holes marked as being drilled with 1/4-inch and 7/64-inch bits Figure 421 shows the finished frog robot body on which all of the other mechanical and electronic components will be mounted
FIGURE 419
Cutting and bending guide for the Frogbotic s body
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FIGURE 420
Drilling guide for the Frogbotic s body
4 / Frogbotic: Build Your Own Robotic Frog
FIGURE 421
Cut, bent, and drilled aluminum for the Frogbotic s body
The next step is to fabricate six mounting brackets that will be used to attach the robot legs to the body and to fasten two leg sensor limit switches Use Figure 422 as a cutting and drilling guide to fabricate pieces A, B, C, D, E, and F out of 1/16-inch thick aluminum Pieces A and B measure 1-3/4 inches in length, pieces C and D are 1-1/2 inches in length, and pieces E and F are 2-1/4 inches in length Drill the holes with a 5/32-inch drill bit where indicated in Figure 422 The finished pieces are shown in Figure 423
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FIGURE 422
Cutting and drilling guide for mounting brackets
4 / Frogbotic: Build Your Own Robotic Frog
FIGURE 423
Finished mounting brackets
Fasten the leg mounting brackets and limit switch brackets to the frog s body piece, as shown in Figure 424 Fasten each bracket in place using two 6/32-inch 1/2-inch machine screws, lock washers, and nuts The frog s body with the brackets mounted in position should look like the one in Figure 424 Cut two pieces of the 1/4-inch 1/4-inch aluminum, marked as G and H, to a length of 1 inch, and drill according to Figure 422
FIGURE 424
Mounting brackets fastened to the body
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FIGURE 425
Cut and drilled leg stops
Use hot glue to fasten one of the 1/4-inch diameter plastic feet, marked as I in Figure 422, to the end of piece G Do the same for pieces H and J The finished leg stops are shown in Figure 425, and will be used to stop the legs from overtravelling when assembled later Using the 1/2-inch aluminum stock, cut and drill 10 pieces labeled K, L, M, N, O, P, Q, R, S, and T, as shown in Figure 426 Cut two pieces of 1/16-inch aluminum to a size of 1-1/2 inches 2 inches Photocopy the image in Figure 427 onto a sheet of paper and use the enlarge feature until the dotted outline is exactly 1-1/2 inches 2 inches Another method is to scan the image into your computer and use a graphics editor program to make the enlargement and then print the image Cut the images out and glue them to the aluminum pieces Use a metal cutting band saw or a hack saw to cut the aluminum along the guide lines Once the cuts have been made, bend the top part of the pieces upward, along the dotted lines, on 90-degree angles, as shown in Figure 429 These two pieces are the frog s feet and will be attached to pieces S and T
4 / Frogbotic: Build Your Own Robotic Frog
FIGURE 426
Cutting and drilling guide for robotic frog leg pieces
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FIGURE 427
Cutting guide for robotic frog s feet
Attach the assembled leg stops (pieces G and H) to pieces L and K using two 6/32-inch 3/4-inch machine screws, lock washers, and nuts, as shown in Figure 428 These assemblies will be part of the robot s leg-jumping mechanism Use hot glue to attach the robot s feet pieces U and V to pieces S and T on the sloped ends Figure 429 shows the feet pieces, U and V, attached to lower leg pieces S and T
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