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A hammer (R), shown in Figure 113, will be needed for bending aluminum, along with a metal file (S) to smooth the edges of metal pieces after they have been cut or drilled You may use a tube of
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Hammer, file, epoxy, and safety glasses
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quick-setting epoxy (T) to secure parts Safety glasses (U) should be worn at all times when cutting and drilling metal or soldering
Test Equipment
To calibrate and troubleshoot the electronics, you will need a digital multimeter with frequency counting capabilities, similar to the Fluke 87 multimeter (Figure 114, left) When working with electronic circuits, a good multimeter is invaluable The second multimeter in Figure 114 (right) is manufactured by Circuit Test and measures capacitance, resistance, and inductance It is nice to be able to measure the exact values of components when working on precise circuits, but in most cases, this is not necessary If you are winding your own transformers or chokes, the ability to measure inductance will be helpful The specific use of the multimeter will be explained during the construction of the robot s electronics in later chapters
FIGURE 114
Fluke and Circuit Test multimeters
1 / Tools, Test Equipment, and Materials
If you are really serious about electronics, then an oscilloscope, like the one pictured in Figure 115, is a great investment This is the Tektronix TDS 210 dual channel, digital real-time oscilloscope, with a 60-MHz bandwidth The TDS 210 on my bench also has the RS-232, GPIB, and centronics port module added, so that a hard copy of waveforms can be output The great advantage to using an oscilloscope is the ability to visualize what is happening with a circuit The new digital oscilloscopes also automatically calculate the frequency, period, mean, peak to peak, and true RMS of a waveform You will probably need to use a regulated direct current (DC) power supply and a function generator quite often as well None of the equipment shown in Figure 115 is required when building the robots in this book, but it will make your life as an
FIGURE 115
Oscilloscope, regulated DC power supply, and function generator
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electronics experimenter much easier There is nothing more frustrating than finding out that a circuit you are working on is malfunctioning because of a dead battery or an oscillator calibrated to the wrong frequency If you use a good power supply and oscilloscope when building and testing a circuit, the chance of these kinds of problems surfacing is much lower I have always found that if I am working late at night and start to encounter a lot of small problems and make mistakes, the best thing to do is to shut my equipment down and get a good night s sleep Sometimes the difference between frying an expensive chip or the circuit s working perfectly on the first try is just one misplaced component
Construction Materials
The robots in this book are constructed using aluminum and fasteners that are readily available at most hardware stores Five sizes of aluminum will be used The first stock measures 1/2-inch wide by 1/8-inch thick, and is usually bought in lengths of 4 feet or longer Many of the robot parts are constructed from aluminum, with the dimensions as shown in Figure 116
FIGURE 116
1/2-inch by 1/8-inch aluminum stock
1 / Tools, Test Equipment, and Materials
FIGURE 117
Aluminum stock with 1/4-inch by 1/4-inch dimensions
The second type of aluminum stock that will be used measures 1/4-inch 1/4-inch, and is shown in Figure 117 It is usually bought in lengths of 4 feet or longer as well The third kind of aluminum stock is 1/2-inch 1/2-inch angle aluminum, and is 1/16-inch thick, as shown in Figure 118 The fourth type is 1/16-inch thick flat aluminum, as shown in Figure 119, and it is usually bought in larger sheets However, most metal suppliers will cut it down for you This thickness of aluminum is great for cutting out custom parts and it is easy to
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