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FIGURE 16.14 A round robot versus a square robot. All things being equal, a round robot is better able to navigate through small openings. However, rounded robots also have less usable surface area, so a square-shaped robot can be made smaller and still support the same onboard real estate.
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234 ROBOT LOCOMOTION PRINCIPLES
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Selecting wood, plastic, or metal to construct your robot Choosing a battery for your robot Selecting motors Building a walking robot Constructing a treaded robot Controlling the speed of a twomotor-driven robot
Read
8 10 15, All about Batteries and Robot Power Supplies 17, Choosing the Right Motor for the Job 22, Build a Heavy-duty, Six-legged Walking Robot 23, Advanced Locomotion Systems 38, Navigating through Space
CHOOSING THE RIGHT MOTOR FOR THE JOB
Motors are the muscles of robots. Attach a motor to a set of wheels and your robot
can scoot around the floor. Attach a motor to a lever, and the shoulder joint for your robot can move up and down. Attach a motor to a roller, and the head of your robot can turn back and forth, scanning its environment. There are many kinds of motors; however, only a select few are truly suitable for homebrew robotics. In this chapter, we ll examine the various types of motors and how they are used.
AC or DC
Direct current DC dominates the field of robotics, either mobile or stationary. DC is used as the main power source for operating the onboard electronics, for opening and closing solenoids, and, yes, for running motors. Few robots use motors designed to operate from AC, even those automatons used in factories. Such robots convert the AC power to DC, then distribute the DC to various subsystems of the machine. DC motors may be the motors of choice, but that doesn t mean you should use just any DC motor in your robot designs. When looking for suitable motors, be sure the ones you buy are reversible. Few robotic applications call for just unidirectional (one-direction) motors. You must be able to operate the motor in one direction, stop it, and change its direction. DC motors are inherently bidirectional, but some design limitations may prevent reversibility.
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236 CHOOSING THE RIGHT MOTOR FOR THE JOB
The most important factor is the commutator brushes. If the brushes are slanted, the motor probably can t be reversed. In addition, the internal wiring of some DC motors prevents them from going in any but one direction. Spotting the unusual wiring scheme by just looking at the exterior or the motor is difficult, at best, even for a seasoned motor user. The best and easiest test is to try the motor with a suitable battery or DC power supply. Apply the power leads from the motor to the terminals of the battery or supply. Note the direction of rotation of the motor shaft. Now, reverse the power leads from the motor. The motor shaft should rotate in reverse.
Continuous or Stepping
DC motors can be either continuous or stepping. Here is the difference: with a continuous motor, like the ones in Fig. 17.1, the application of power causes the shaft to rotate continually. The shaft stops only when the power is removed or if the motor is stalled because it can no longer drive the load attached to it. With stepping motors, shown in Fig. 17.2, the application of power causes the shaft to rotate a few degrees, then stop. Continuous rotation of the shaft requires that the power be pulsed to the motor. As with continuous DC motors, there are subtypes of stepping motors. Permanent magnet steppers are the ones you re likely to encounter, and they are also the easiest to use. The design differences between continuous and stepping DC motors need to be addressed in detail. 18, Working with DC Motors, focuses entirely on continu-
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