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2.5 Power Systems
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We eat food that is processed by the stomach and intestines to make fuel for our muscles, bones, skin, and the rest of our body. While you could probably design a digestive system for a robot and feed it hamburgers, french fries, and other foods, an easier way to generate the power to make your robot go is to use commercially available batteries, connect the batteries to the robot s motors, circuits, and other parts, and you re all set.
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2.5.1 TYPES OF BATTERIES
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There are several different types of batteries, and 17, Batteries and Robot Power Supplies, goes into more detail about them. Here are a few quick facts to start you off. Batteries generate DC current and come in two distinct categories: rechargeable and nonrechargeable (for now, let s forget the nondescriptive terms like storage, primary, and secondary). Nonrechargeable batteries include the standard zinc and alkaline cells you buy at the supermarket, as well as special-purpose lithium and mercury cells for calculators, smoke detectors, watches, and hearing aids. A few of these (namely, lithium) have practical uses in hobby robotics. Rechargeable batteries include nickle-metal hydride (NiMH), nickel-cadmium (Ni-Cad), gelled electrolyte, sealed lead-acid cells, and special alkaline. NiMH batteries are a popular choice because they are relatively easy to find, come in popular household sizes (D, C, etc.), can be recharged many hundreds of times using an inexpensive recharger, and are safer for
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ANATOMY OF A ROBOT
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the environment than the other options. Gelled electrolyte (gel-cell) and lead-acid batteries provide longer-lasting power, but they are heavy and bulky.
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2.5.2 ALTERNATIVE POWER SOURCES
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Batteries are required in most fully self-contained mobile robots because the only automatons connected by power cord to an electrical socket are found in cartoons. That doesn t mean other power sources, including AC or even solar, can t be used in some of your robot designs. On the contrary, stationary robot arms don t have to be capable of moving around the room; they are designed to be placed about the perimeter of the workplace and perform within this predefined area. The motors and control circuits may very well run off AC power, thus freeing you from replacing batteries and worrying about operating times and recharging periods. This doesn t mean that AC power is necessarily the preferred method. High-voltage AC poses greater shock hazards. Electronic logic circuits ultimately run off DC power, even when the equipment is plugged into an AC outlet, which makes DC power a logical choice. One alternative to batteries in an all-DC robot system is to construct an AC-operated power station that provides your robot with regulated DC. The power station converts the AC to DC and provides a number of different voltage levels for the various components in your robot, including the motors. This saves you from having to buy new batteries or recharge the robot s batteries all the time. Small robots can be powered by solar energy when they are equipped with suitable solar cells. Solar-powered robots can tap their motive energy directly from the cells, or the cells can charge up a battery over time. Solar-powered bots are a favorite of those designers using the BEAM philosophy a type of robot design that stresses simplicity, including the power supply of the machine.
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2.5.3 PRESSURE SYSTEMS
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Two other forms of robotic power, which will not be discussed in depth in this book, are hydraulic and pneumatic. Hydraulic power uses oil or fluid pressure to move linkages. You ve seen hydraulic power at work if you ve ever watched a bulldozer move dirt from place to place. And while you drive you use it every day when you press down on the brake pedal. Similarly, pneumatic power uses air pressure to move linkages. Pneumatic systems are cleaner than hydraulic systems, but all things considered they aren t as powerful. Both hydraulic and pneumatic systems must be pressurized to work, and this pressurization is most often performed by a pump. The pump is driven by an electric motor, so in a way robots that use hydraulics or pneumatics are fundamentally electrical. The exception to this is when a pressurized tank, like a scuba tank, is used to provide air pressure in a pneumatic robot system. Eventually, the tank becomes depleted and must either be recharged using some pump on the robot or removed and refilled using a compressor. Hydraulic and pneumatic systems are rather difficult to implement effectively, but they provide an extra measure of power in comparison to DC and AC motors. With a few hundred dollars in surplus pneumatic cylinders, hoses, fittings, solenoid valves, and a pressure supply (battery-powered pump, air tank, regulator), you could conceivably build a hobby robot that picks up chairs, bicycles, even people!
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