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FIGURE 62
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Crocobot with remote control device
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tiometers attached to the X and Y axis When the position of the control stick is determined, certain control information is transmitted to the robot Because a wireless data link is being used to remotely control the robot, the experimenter is not limited to a certain number of control channels, as are imposed when a regular model airplane remote control system is used The experimenter has the option of adding any number of other devices
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Mechanical Construction of Crocobot
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The construction of the robot crocodile will begin with the mechanical construction of the body, head, and tail The parts needed for the mechanical construction are listed in Table 61
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6 / Crocobot: Build Your Own Robotic Crocodile
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Parts 1/16-inch thick aluminum stock 1/4-inch 6/32 6/32 1/4-inch aluminum stock 1/2-inch machine screws 1-inch machine screws
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Quantity 8-foot x 10-foot piece 34 inches 32 2 34 14 1 9 feet 2 inches 3
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TABLE 61
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Parts List for Crocobot s Mechanical Construction
6/32 locking nuts 6/32 nylon washers Tamiya twin motor gear box Connector wire Heat-shrink tubing 4-post female header connector
The body, head, and tail are constructed using 1/16-inch flat aluminum The construction of the robot crocodile will start with the assembly of the Tamiya twin motor gearbox It is available from a hobby robotics supplier called HVW Tech, and can be purchased from its Web site located at wwwhvwtechcom The gearbox is sold as a kit and needs to be assembled before it can be used Figure 63 shows the entire kit before assembly
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FIGURE 63
Tamiya twin motor gearbox before assembly
Assembling the twin motor gearbox Take all of the parts out of the box and unfold the instruction sheet The gearbox has two possible configuration options of standard speed with a gear ratio of 58:1, or low speed with a gear ratio of 203:1 The gearbox will be assembled for use with the low speed option The first thing that needs to be done when assembling the gearbox is to position a gear hub on each of the two hexagonal output shafts, as shown in Figure 64 Thread a grub screw into each of the gear hubs with the hex wrench that was supplied with the kit Use piece M3 to set the proper position of the gear hubs, and then tighten in place with the hex wrench
6 / Crocobot: Build Your Own Robotic Crocodile
FIGURE 64
Procedure to attach gear hubs to the hexagonal output shafts
Break apart each of the gearbox body sections and plastic spacers from the injection-molded piece, and trim off any rough edges with a small knife Locate the gears, eyelets, screws, and output shafts, then assemble according to Figure 65
FIGURE 65
Gearbox assembly diagram
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FIGURE 66
Installing motors in the gearbox
Place a pinion gear onto the end of each motor shaft so that the end of the shaft is level with the end of the gear Install each motor in the gearbox by sliding it into place, as shown in Figure 66 The plastic clips on the gearbox body will snap into place and secure the motors in position When the gearbox is complete, mark each shaft at 5/8 of an inch from the body and cut with a hacksaw The finished gearbox, ready for use with Crocobot, is shown in Figure 67
FIGURE 67
Completed twin motor gearbox with a 203:1 gear reduction
6 / Crocobot: Build Your Own Robotic Crocodile
Constructing the Chassis
The main body chassis is constructed using a piece of 1/16-inch thick flat aluminum, and is labeled as part A Cut a piece to the size of 9 inches in length by 2-1/2 inches in width Use Figure 68 as a cutting and drilling guide
FIGURE 68
Cutting and drilling guide for main body chassis
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FIGURE 69
Cutting, bending, and drilling guide for mounting brackets
Fabricate four leg support brackets using the 1/16-inch aluminum, as detailed in Figure 69 These pieces are identified by the letters B, C, D, and E When the pieces are finished, use a file to remove any rough edges Create a single support bracket according to the dimensions shown in Figure 69 This part is labeled piece F, and is also constructed using the 1/16-inch aluminum Fabricate two L-shaped limit switch mounting brackets identified as pieces G and H in Figure 69, also using the 1/16-inch aluminum Attach the leg mounting brackets (pieces B, C, D, and E) to the body chassis (piece A) using four 6/32-inch 1/2-inch machine screws and locking nuts, as shown in Figure 610 Note that when pieces B and C are mounted, the 1/4-inch side of each bracket is attached to the chassis, and when pieces D and E are mounted, the 1-inch side of each bracket is attached to the chassis Figure 610 shows the mounting brackets attached to the robot chassis
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