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17.4.4 NICKEL METAL HYDRIDE
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Nickel metal hydride (NiMH) batteries are probably the optimal rechargeable battery technologies for use in robots (and, practically speaking, all other applications that require batteries). NiMH batteries can be recharged 400 or more times and have a low internal resistance, so they can deliver high amounts of current. Nickel metal hydride batteries are about the same size and weight as alkaline cells, but they deliver about 50 percent more operating current than NiCads. In fact, NiMH batteries work best when they are used in very high current situations. Unlike NiCads, NiMH batteries do not exhibit any memory effect, nor do they contain cadmium, a highly toxic material. NiMH cells are available in all standard sizes, plus special-purpose sub sizes for use in sealed battery packs (as in rechargeable handheld vacuum cleaners, photoflash equipment,
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BATTERIES AND ROBOT POWER SUPPLIES
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and so forth). Most sub-size batteries have solder tabs, so you can attach wires directly to the battery instead of placing the cells in a battery holder. NiMH cells don t last quite as long as alkaline cells, but this deficiency is being addressed with the availability of high amp-hour rated batteries at reasonable cost. While NiMH batteries are discharging, especially at high currents, they can get quite hot. You should consider this when you place the batteries in your robot. If the NiMH pack will be pressed into high-current service, be sure it is located away from any components that may be affected by the heat. This includes any control circuitry or the microcontroller. NiMH batteries should be recharged using a recharger specially built for them most modern rechargers have a switch to specify whether the batteries are NiMH or NiCads. According to NiMH battery makers, NiMH batteries should be charged at an aggressive rate. A by-product of this kind of high-current recharging is that NiMH can be recycled back into service more quickly than NiCads. You can deplete your NiMH battery pack, put it under charge for an hour or two, and be back in business. One disadvantage of NiMH relative to other rechargeable battery technologies is that the battery does not hold the charge well. That is, over time (weeks, even days) the charge in the battery is depleted, even while the battery is in storage. For this reason, it s always a good idea to put NiMH batteries on the recharger at regular intervals, even when they haven t been used. NiMH batteries do not exhibit the memory effect of NiCad batteries.
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17.4.5 NICKEL-CADMIUM
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When you think rechargeable battery, you undoubtedly think nickel-cadmium (NiCad for short). In recent years, NiCads have fallen out of favor due to the memory effect in which the battery will tend to last only as long as it is usually asked to; if it is placed in longer service periodically, it will not respond well. Another issue with NiCads is their chemical makeup cadmium is a highly toxic metal that should not be put into public landfill sites and ideally should be disposed of as toxic waste. If you decide to use NiCad batteries, remember that they can change output polarity positive becomes negative and vice versa under certain circumstances. Polarity reversal is common if the battery is left discharged for too long or if it is discharged below 75 or 80 percent capacity. Excessive discharging can occur if one or more cells in a battery pack wears out. The adjacent cells must work overtime to compensate, and so they discharge themselves too fast and too far. You can test for polarity reversal by hooking the battery to a volt-ohm meter (remove it from the pack if necessary). If you get a negative reading when the leads are connected properly, the polarity of the cell is reversed. You can sometimes correct polarity reversal by fully charging the battery (connecting it in the recharger in reverse), then shorting it out. Repeat the process a couple of times if necessary. There is about a fifty-fifty chance that the battery will survive this. The alternative is to throw the battery out, so you actually stand to lose very little.
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