vb.net barcode reader from image BUILDING A ROVERBOT in Software

Paint Denso QR Bar Code in Software BUILDING A ROVERBOT

BUILDING A ROVERBOT
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FIGURE 23-4 Hardware detail for the frame of the Roverbot (bottom view).
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FIGURE 23-5 One of the drive motors, with wheel, attached to the base of the Roverbot.
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23.2 MOTORS
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Motor Gearbox (Pretapped Holes) 2 1 /2 " x 3 /8 " Corner Angle Iron
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FIGURE 23-6 Hardware detail for the motor mount. Cut the angle iron, if necessary, to accommodate the motor.
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1/ 4"-20
Motor
Fender Washer
Wheel
FIGURE 23-7 Hardware detail for attaching the wheels to the motor shafts. The wheels can be secured by threading the shaft and using 1 4-in 20 hardware, as shown, or secured to the shaft using a setscrew or collar.
BUILDING A ROVERBOT
23.3 Support Casters
The ends of the Roverbot must be supported by swivel casters. Use a 2-in-diameter ballbearing swivel caster, available at the hardware store. Attach the caster by marking holes for drilling on the bottom of the left and right mending plate. You can use the base plate of the caster as a drilling guide. Attach the casters using 8 32-by-1 2-in bolts and 8 32 nuts (see Fig. 23-8). You may need to add a few washers between the caster base plate and the mending plate to bring the caster level with the drive wheels (the prototype used a 5 16-in spacer). Do the same for the opposite caster. If you use different motors or drive wheels, you ll probably need to choose a different size caster to match. Otherwise, the four wheels may not touch the ground all at once as they should. Before purchasing the casters, mount the motors and drive wheels, then measure
8 2" x /32 Stove Bolt
Plate Spacer Washers (as Needed) Tooth Lock Washer Nut Caster
FIGURE 23-8 Adding the casters to the Roverbot. There is one caster on each end, and both must match the depth of the drive wheels (a little short is even better). a. Hardware detail; b. caster mounted on mending plate.
23.4 BATTERIES
the distance from the bottom of the mending plate to the ground. Buy casters to match. Again, add washers to increase the depth, if necessary.
23.4 Batteries
Each of the drive motors in the Roverbot consumes 1 2 A (500 mA) of continuous current with a moderate load. The batteries chosen for the robot, then, need to easily deliver 2 A for a reasonable length of time, say 1 or 2 h of continuous use of the motors. A set of highcapacity NiCads would fit the bill. But the Roverbot is designed so that subsystems can be added to it. Those subsystems haven t been planned yet, so it s impossible to know how much current they will consume. The best approach to take is to overspecify the batteries, allowing for more current than is probably necessary. Six- and 8-A-H lead-acid batteries are somewhat common on the surplus market. As it happens, 6 or 8 A are about the capacity that would handle intermittent use of the drive motors. (The various electronic subsystems, such as an on-board computer and alarm sensors, should use their own battery.) These heavy-duty batteries are typically available in 6-V packs, so two are required to supply the 12 V needed by the motors. Supplementary power, for some of the linear ICs, like op amps, can come from separate batteries, such as a NiCad pack. A set of C NiCads don t take up much room, but it s a good idea to leave space for them now, instead of redesigning the robot later on to accommodate them. The main batteries are rechargeable, so they don t need to be immediately accessible in order to be replaced. But you ll want to use a mounting system that allows you to remove the batteries should the need arise. The clamps shown in Fig. 23-9 allow such accessibility.
Rubber Weather Stripping
Battery
Clamp
FIGURE 23-9 A battery clamp made from a strip of galvanized plate, bent to the contours of the battery. Line up the metal with weather stripping for a positive grip.
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