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FIGURE 625
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Motor output shaft mount fabrication diagram
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FIGURE 626
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Completed motor output shaft mount
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Using the 1/4-inch 1/4-inch aluminum stock, fabricate the four leg pieces (P, Q, R, and S) and the mechanical linkage pieces (T and U), as detailed in Figure 627 Construct the mechanical linkage pieces V and W and the four feet (X1, X2, X3, and X4), as outlined in Figure 628 When all of these pieces are complete, the robot s legs will be assembled
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FIGURE 627
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Leg and mechanical linkage construction diagram
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6 / Crocobot: Build Your Own Robotic Crocodile
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FIGURE 628
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Feet and mechanical linkage construction diagram
Assembling the Legs
Start by connecting the motor shaft mounts (pieces N and O) to the motor shafts so that the motor shafts are flush with the outer sides of the mounts when they are placed Tighten the screw on the mounts so that each mount is secure on the motor s hex shafts Use Figure 629 and Figure 630 as a guide to assembling the legs Note that the leg pieces attached to the motor shaft mounts use 6/32-inch 1-inch machine screws and locking nuts All of the others use 6/32-inch 3/4-inch machine screws and locking nuts The foot piece machine screws and locking nuts should be as tight as possible All of the other joints should have a 6/32 nylon washer between metal pieces, and the locking nuts
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FIGURE 629
Leg parts placement for the robot s left side
FIGURE 630
Leg mechanism parts placement
6 / Crocobot: Build Your Own Robotic Crocodile
should be fastened with just enough pressure to allow the parts to move freely without any resistance Cut six connector wires to a length of 6 inches each Wire the power switch, 9-volt battery strap, and three female header connectors, as indicated in Figure 631 When the switch and connectors are finished, mount the switch in the 1/4-inch hole in the robot chassis with the switch mechanism facing down toward the bottom of the robot, and the 9-volt battery strap facing toward the back Now that the mechanical and electrical systems are in place, the next step is to add the electronics
FIGURE 631
Power switch wiring diagram
Amphibionics
The Controller Circuit Board
The robot s main controller will integrate a PIC 16F84 microcontroller, a Lynx radio receiver module, and an L298 dual motor controller chip all on a 1-1/2 inch by 2-1/2 inch circuit board The schematic for the controller board is shown in Figure 632
FIGURE 632
Crocobot s main controller board
The PIC 16F84 microcontroller is used to interpret the serial information that is received from the Lynx radio receiver module, monitor the leg limit switches, and control the motors via the L298 motor controller IC The 16F84 microcontroller is clocked at 4 MHz and operates from a 5-volt direct current (DC) supply that is produced from a 78L05 voltage regulator, with the source being a 9-volt battery in the robot s tail section The motors operate from their own 45-volt supply contained in the robot s top cover Six of the PIC 16F84 port B pins will be connected to the L298 to control the motors The parts necessary to construct the main board are listed in Table 62
6 / Crocobot: Build Your Own Robotic Crocodile
Part
Quantity
Description
TABLE 62
Parts List for Crocobot s Main Controller Board
Semiconductors U1 U2 1 1 78L05 5V regulator PIC 16F84 flash microcontroller mounted in socket L298 dual full-bridge driver Lynx RXM-433-LC-S RF receiver module Red light-emitting diode Diodes 1N4001 Green light-emitting diode 2N3904 NPN transistor
U3 RX1 D1 D2 D9 D10 Q1 Resistors R1, R2 R3 R4 Capacitors C1 C2, C3 C4, C5 Miscellaneous JP1 JP4
1 1 1 8 1 1
2 1 1
470 10 K 47 K
1/4-watt resistor 1/4-watt resistor 1/4-watt resistor
1 2 2
01 f 22 pf 01 f
2-post male header connector 25-mm spacing 4-post male header connector 25-mm spacing 4-post female header connector 25-mm spacing
(continued on next page)
JP5 motors
JP6 RF module
Amphibionics
TABLE 62
Parts List for Crocobot s Main Controller Board (continued)
Part Y1 W1-W4
Quantity 1 4 1 1 1
Description 4-MHz crystal Jumper wire Standard piezoelectric element 18-pin IC socket soldered to PC board U2 See details in chapter
Piezo buzzer IC socket Printed circuit board
L298 Dual Full-Bridge Driver
This robot is a departure from the previous two robots detailed in this book because it uses a twin DC motor gearbox as its source of power, instead of RC servos In order to safely control the motors with the microcontroller, the L298 dual full-bridge driver will be used, and is shown in Figure 633 The L298 is an integrated monolithic circuit in a 15-lead multiwatt package It is a high-voltage, high-current dual full-bridge driver designed to accept standard TTL logic levels and drive inductive loads such as relays, solenoids, DC, and stepping motors Two enable inputs are provided to enable or disable the device independently of the input signals The emitters of the lower transistors of each bridge are connected together, and the corresponding external terminal can be used for the connection of an external sensing resistor An additional supply input is provided so that the logic functions at a lower voltage
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