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Flat washer Tooth lockwasher Nut
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Side view
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Motor
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Top view FIGURE 9.3 One way to secure the motors to the base is to use a wood block hollowed out to match the shape of the motor casing. a. Side view; b. Top view.
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BUILDING A WOODEN MOTORIZED PLATFORM
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Using two motors and a centered caster, as depicted in Fig. 9.4, allows you to have full control over the direction your robot travels. You can make the robot turn by stopping or reversing one motor while the other continues turning. Attach the caster using four 8/32by-1-inch bolts. Secure the caster with tooth lock washers and 8/32 nuts. Note that the caster must be level with (or a little higher than) the drive motors. You may, if necessary, use spacers to increase the distance from the baseplate of the caster to the bottom of the platform. If the caster is already lower than the wheels, you ll have trouble because the motors won t adequately touch the ground. You can rectify this problem by simply using larger-diameter wheels.
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You can purchase battery holders that contain from one to six dry cells in any of the popular battery sizes. When using 6-volt motors, you can use a four-cell D battery holder.
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Caster
Bottom
1" x 8/32 Bolt
Platform
Tooth Lockwasher Nut Caster
FIGURE 9.4 Attaching the caster to the platform. a. Top and bottom view; b. caster hardware assembly detail.
122 BUILDING A BASIC WOODEN PLATFORM
You can also use a single 6-volt lantern or rechargeable battery. Motors that require 12 volts will need two battery holders, two 6-volt batteries, or one 12-volt battery (the latter is somewhat hard to find unless you re looking for a car battery, which you are not). For the prototype, I used 6-volt motors and a four-cell D battery holder. Secure the battery holder(s) to the base with 8/32 nuts and bolts. Drill holes to accommodate the hardware. Be sure the nuts and bolts don t extend too far below the base or they may drag when the robot moves. Likewise, be sure the hardware doesn t interfere with the batteries. Wire the batteries and wheels to the DPDT through control switches, as shown in the Minibot project described at the end of 8, Building a Plastic Robot Platform. One switch controls the left motor; the other switch controls the right motor.
From Here
To learn more about...
Plastic robots Metal robots Using batteries Selecting the right motor Using a computer or microcontroller
Read
8, Building a Plastic Robot Platform 10, Building a Metal Platform 15, All about Batteries and Robot Power Supplies 17, Choosing the Right Motor for the Job 28, An Overview of Robot Brains
BUILDING A METAL PLATFORM
Metal is perhaps the best all-around material for building robots because if offers extra
strength that other materials, such as plastic and wood, cannot. If you ve never worked with metal before, you shouldn t worry; there is really nothing to it. The designs outlined in this chapter and the chapters that follow will show you how to construct robots both large and small out of readily available metal stock, without resorting to welding or custom machining.
Metal Stock
Metal stock is available from a variety of sources. Your local hardware store is the best place to start. However, some stock may only be available at the neighborhood sheet metal shop. Look around and you re sure to find what you need.
EXTRUDED ALUMINUM
Extruded stock is made by pushing molten metal out of a shaped orifice. As the metal exits it cools, retaining the exact shape of the orifice. Extruded aluminum stock is readily available at most hardware and home improvement stores. It generally comes in 12-foot sections, but many hardware stores will let you buy cut pieces if you don t need all 12 feet.
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124 BUILDING A METAL PLATFORM
Extruded aluminum is available in more than two dozen common styles, from thin bars to pipes to square posts. Although you can use any of it as you see fit, the following standard sizes may prove to be particularly beneficial in your robot-building endeavors:
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