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Two typical right-angle drive speed reducers using the 56C NEMA standard face size
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Build Your Own Combat Robot
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Planetary and Harmonic speed reducers are the most expensive forms of a gearbox For low- to medium-power robots, one of the most cost-effective methods of obtaining a planetary gearhead is to pull one out of a cordless drill But when doing this, you will have to build a special mount for the gearmotor because these motors are not designed to be stand-alone gearmotors When building combat robots, it is generally a good idea to start with motors or gearmotors and use a chain or belt drive system to increase or decrease the output shaft speed of the motor/gearmotor to drive the robot s wheels, than to design a custom gearbox If you plan to use a commercially available high-powered electric motor, look for electric motors that use NEMA face and frame mounting methods so that standard gearboxes can be used with them With a good power transmission, your robot should have all the speed and pushing force it should need in a contest
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Controlling Your Motors
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F batteries are the source of power for a robot, and motors are the source of movement and locomotion, you might consider the electronic speed controller (ESC) the ringmaster of all robot systems The ESC is the device that controls the amount of voltage that goes to the motors and the direction in which the motors turn in your robot Without an ESC, you cannot control your robot The ESC is probably the most critical component in the entire robot, so you must select it carefully An improperly selected controller will usually result in a short life for your robot and can damage the motors or the batteries If the ESC fails during a competition, you can pretty much count on losing the match This chapter will explain several different approaches to implementing electronic speed and direction controls, including simple relay controls and solid-state electronic variable speed controllers Each approach has its advantages and disadvantages and should be selected according to the application
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A relay is an electric device used to switch a high-powered electric circuit with a low-powered signal Inside a relay is an electromagnetic coil and a set of movable electric contacts When power is sent through the relay coil, it creates a magnetic field inside the relay case The magnetic field then pulls a piece of metal connected to a set of movable electrical contacts into contact with stationary set of contact points thus making an electric circuit and allowing power to flow to the load When the power to the coil is interrupted, the magnetic field disappears and a spring pushes the movable contacts back into their original position, breaking the circuit Figure 7-1 shows a schematic of a typical single-pole double-throw (SPDT) relay (see the next section for a definition of relay types)
Poles and Throws
Relays contain one or more circuits The number of circuits in a relay are referred to as poles A relay with one circuit is called a single-pole (SP) relay A relay with two circuits is called a double-pole (DP) relay
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Typical automotive surplus SPDT relay
Relays also comprise two kinds of contacts: normally open (NO) and normally closed (NC) contacts Normally open contacts (also known as Type A contacts) do not allow power to flow until the relay coil is energized Normally closed contacts (also known as Type B contacts) allow power to flow when the relay is de-energized, but they break the connection when the relay is energized Both of these types of relays are called single-throw (ST) relays Many relays contain an NO and an NC contact with one common wire (known as the COM contact) between them so that the relay will make one contact and break another when it is energized This is known as a double-throw (DT) relay (also known as a Type C contact) Most relays are either single- or double-pole relays, and each of these can be either single- or double-throw relays So relays are usually given a four-letter designation the first two letters are the number of poles, and the second two are the number of throws The SPDT relay shown in Figure 7-1 is a single-pole (circuit) double-throw relay Figure 7-2 shows the schematic drawings of SPST, SPDT, and DPDT relays The dashed line between the two contacts in the DPDT relay shows that both contacts move together, but they are not electrically connected to each other
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