vb.net barcode reader source code CONSTRUCTING ROBOTS WITH MULTIPLE DECKS in Software

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18.4 CONSTRUCTING ROBOTS WITH MULTIPLE DECKS
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Drive motors are most often selected because of their availability and cost, not because of their weight or construction. In fact, many robots are designed around the specifications of the selected drive motors. The motors are selected (often they re purchased surplus), and from these the frame of the robot is designed and appropriate batteries are added. Still, it s important to give more thought to the selection of the motors for the robot that you have in mind. Avoid motors that are obviously overpowered in relation to the robot in which they are being used. Motors that are grossly oversized will add unnecessary weight, and they will require larger (and therefore heavier and more expensive) batteries to operate.
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18.3 Beware of the Heavy Frame
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The frame of the robot can add a surprising amount of weight. An 18-in2, 2-ft high robot constructed from extruded aluminum and plastic panels might weigh in excess of 20 or 30 lbs, without motors and batteries. The same robot in wood (of sufficient strength and quality) could weigh even more. Consider ways to lighten your heavy robots, but without sacrificing strength. This can be done by selecting a different construction material and/or by using different construction techniques. For example, instead of building the base of your robot using solid 1 8-in (or thicker) aluminum sheet, consider an aluminum frame with crossbar members for added stability. If you need a surface on which to mount components (the batteries and motors will be mounted to the aluminum frame pieces), add a 1 16-in acrylic plastic sheet as a skin over the frame. The plastic is strong enough to mount circuit boards, sensors, and other lightweight components on it. Aluminum and acrylic plastic aren t your only choices for frame materials. Other metals are available as well, but they have a higher weight-to-size ratio. Both steel and brass weigh several times more per square inch than aluminum. Brass sheets, rods, and tubes (both round and square) are commonly available at hobby stores. Unless your robot requires the added strength that brass provides, you may wish to avoid it because of its heavier weight. Ordinary acrylic plastic is rather dense and therefore fairly heavy, considering its size. Lighter-weight plastics are available but not always easy to find. For example, ABS and PVC plastic popular for plumbing pipes can be purchased from larger plastics distributors in rod, tube, and sheet form. There are many special-purpose plastics available that boast both structural strength and light weight. Look for Sintra plastic, for example, which has an expanded core and smooth sides and is therefore lighter than most other plastics. Check the availability of glues and cements before you purchase or order any material. (See 10 for more on these and other plastics.)
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18.4 Constructing Robots with Multiple Decks
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For robots that have additional decks, like the robot shown in Fig. 18-1, select construction materials that will provide rigidity but the lowest possible weight. One technique, shown
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PRINCIPLES OF ROBOT LOCOMOTION
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FIGURE 18-1 Decked robots provide extra space for batteries and electronics, but they can also add considerably to the weight. Use lightweight construction materials to avoid unduly increasing the weight of the robot.
in the figure, is to use 1 2-in thin-wall (Schedule 125) PVC pipe for uprights and attach the decks using 8 32 or 10 24 all-thread rod. The PVC pipe encloses the all-thread; both act as a strong support column. You need three such columns for a circular robot, and four columns for a square robot. For small robots, consider electronic circuit board standoffs, which are six-sided rods with the ends drilled and tapped for 4-40 screws. Unless your robot is heavy, be sure to use the thinner-walled Schedule 125 PVC pipe. Schedule 80 pipe, commonly used for irrigation systems, has a heavier wall and may not be needed. Note that PVC pipe is always the same diameter outside, no matter how thick its plastic walls. The thicker the wall, the smaller the inside diameter of the pipe. You can readily cut PVC pipe to length using a PVC pipe cutter or a hacksaw, and you can paint it if you don t like the white color. Use Testor model paints for best results, and be sure to spray lightly. For a bright white look, you can remove the blue marking ink on the outside of the PVC pipe with acetone, which is available in the paint department of your local home improvement store.
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