vb.net barcode reader from image Attaching Mechanical Linkages to Servos in Software

Creation Quick Response Code in Software Attaching Mechanical Linkages to Servos

22.11 Attaching Mechanical Linkages to Servos
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One of the benefits of using R/C servos with robots is the variety of ways it offers you to connect stuff to the servos. In model airplane and car applications, servos are typically connected to a push/pull linkage of some type. For example, in a plane, a servo for controlling the rudder would connect to a push/pull linkage directly attached to the rudder. As the servo rotates, the linkage draws back and forth, as shown in Fig. 22-9. The rudder is attached to the body of the plane using a hinge, so when the linkage moves, the rudder flaps back and forth. You can use the exact same hardware designed for model cars and airplanes with your servo-equipped robots. Visit the neighborhood hobby store and scout for possible parts you can use. Collect and read through web sites and catalogs of companies that manufacture and sell servo linkages and other mechanics. Appendix B, Sources, lists several such companies.
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Shaft Attached to Servo Disc
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Servo Disc
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FIGURE 22-9 Servos can be used to transform rotational motion to linear motion.
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WORKING WITH SERVO MOTORS
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22.12 Attaching Wheels to Servos
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Servos reengineered for full rotation are most often used for robot locomotion and are outfitted with wheels. Since servos are best suited for small- to medium-sized robots (under about 3 lb), the wheels for the robot should ideally be between 2 and 5 in diameter. Largerdiameter wheels make the robot travel faster, but they can weigh more. You won t want to put extra large 7- or 10-in wheels on your robot if each wheel weighs 1.5 lb. There s your 3-lb practical limit right there. The general approach for attaching wheels to servos is to use the round control disc that comes with the servo (see Fig. 22-10). The underside of the disc fits snugly over the output shaft of the servo. You can glue or screw the wheel to the front of the disc. Here are some ideas:
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Large LEGO balloon tires have a recessed hub that exactly fits the control disc included with Hitec and many other servos. You can simply glue the disc into the rim of the tire. Lightweight foam tires, popular with model airplanes, can be glued or screwed to the control disc. The tires are available in a variety of diameters. If you wish, you can grind down the hub of the tire so it fits smoothly against the control disc.
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FIGURE 22-10 Attaching a round control disc to the hub of a wheel.
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22.13 MOUNTING SERVOS ON THE BODY OF THE ROBOT
A gear glued or screwed into the control disc can be used as an ersatz wheel or as a gear that drives a wheel mounted on another shaft.
In all these cases, it s important to maintain access to the screw used to secure the control disc to the servo. When you are attaching a wheel or tire be sure not to block the screw hole. If necessary, insert the screw into the control disc first, then glue or otherwise attach the tire. Make sure the hub of the wheel is large enough to accept the diameter of your screwdriver, so you can tighten the screw over the output shaft of the servo.
22.13 Mounting Servos on the Body of the Robot
Servos should be securely mounted to the robot so the motors don t fall off while the robot is in motion. The following methods do not work well, though they are commonly used:
Duct tape or electrical tape. The goo on the tape is elastic, and eventually the servo works itself loose. The tape can also leave a sticky residue. Hook-and-loop, otherwise known as Velcro. Accurate alignment of the hook-and-loop halves can be tricky, meaning that every time you remove and replace the servos the wheels are at a slightly different angle with respect to the body of the robot. This makes it harder to program repeatable actions. Tie-wraps. You must cinch the tie-wrap tightly in order to adequately hold the servo in place. Unless your robot is made of metal or strong plastic, you re bound to distort whatever part of the robot you ve cinched the wrap against.
Experience shows that hard mounting gluing, screwing, or bolting the servos onto the robot body is the best overall solution, and it greatly reduces the frustration level of hobby robotics.
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