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

Generating QR-Code in Software BUILDING A ROVERBOT

BUILDING A ROVERBOT
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Batteries (in Holders)
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Top View
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FIGURE 23-10 Top view of the Roverbot, showing the mounted motors and batteries. Note the even distribution of weight across the drive axis. This promotes stability and keeps the robot from tipping over. The wide wheelbase also helps.
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The clamps are made from a 11 4-in-wide galvanized mending plate, bent to match the contours of the battery. Rubber weather strip is used on the inside of the clamp to hold the battery firmly in place. The batteries are positioned off to either side of the drive wheel axis, as shown in Fig. 23-10. This arrangement maintains the center of gravity to the inside center of the robot. The gap also allows for the placement of one or two four-cell C battery packs, should they be necessary.
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23.5 Riser Frame
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The riser frame extends the height of the robot by approximately 15 in. Attached to this frame will be the sundry circuit boards and support electronics, sensors, fire extinguisher, vacuum cleaner motor, or anything else you care to add. The dimensions are large enough
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23.5 RISER FRAME
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to assure easy placement of at least a couple of full-size circuit boards, a 21 2-lb fire extinguisher, and a Black & Decker DustBuster. You can alter the dimensions of the frame, if desired, to accommodate other add-ons. Make the riser by cutting four 15-in lengths of channel stock. One end of each length should be cut at 90 , the other end at 45 . Cut the mitered corners to make pairs, as shown in Fig. 23-11. Make the crosspiece by cutting a length of channel stock to exactly 7 in. Miter the ends as shown in the figure. Connect the two sidepieces and crosspiece using a 11 2-by-3 8-in flat angle iron. Secure the angle iron by drilling matching holes in the channel stock. Attach the stock to the angle iron
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FIGURE 23-11 Cutting diagram for the Roverbot riser pieces (two sets).
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BUILDING A ROVERBOT
by using 8 32-by-1 2-in bolts on the crosspieces and 8 32-by-11 2-in bolts on the riser pieces. Don t tighten the screws yet. Repeat the process for the other riser. Construct two beams by cutting the angle stock to 101 2 in, as illustrated in Fig. 23-12. Do not miter the ends. Secure the beams to the top corners of the risers by using 1-by3 8-in corner angle irons. Use 8 32-by-1 2-in bolts to attach the iron to the beam. Connect the angle irons to the risers using the 8 32-by-11 2-in bolts installed earlier. Add a spacer between the inside of the channel stock and the angle iron if necessary, as shown in Fig. 23-13. Use 8 32 nuts to tighten everything in place. Attach the riser to the base plate of the robot using 1-by-3 8-in corner angle irons. As usual, use 8 32-by-1 2-in bolts and nuts to secure the riser into place. The finished Roverbot body and frame should look at least something like the one in Fig. 23-1.
101/2"
Risers Side View
Cross Beam
Top Riser
Top Riser
Cross Beam Top View
FIGURE 23-12 Construction details for the top of the riser. a. Side view showing the crosspiece joining the two riser sides; b. top view showing the cross beams and the tops of the risers.
23.6 STREET TEST
" x 3/8 Bolt
1" x 3/8" Corner Angle Iron
Cross Beam
11/2" x 3/8 Bolt
Fastener Detail Riser
FIGURE 23-13 Hardware detail for attaching the risers to the cross beams.
23.6 Street Test
You can test the operation of the robot by connecting the motors and battery to a temporary control switch. See 8, Plastic Platforms, for a wiring diagram. With the components listed in Table 23-1, the robot should travel at a speed of about 1 ft/s. The actual speed will probably be under that because of the weight of the robot. Fully loaded, the Roverbot will probably travel at a moderate speed of about 8 or 9 in/s. That s just right for a robot that vacuums the floor, roams the house for fires, and protects against burglaries. If you need your Roverbot to go a bit faster, the easiest (and cheapest) solution is to use larger wheels. Using 8-in wheels will make the robot travel at a top speed of 15 in/s. One problem with using larger wheels, however, is that they raise the center of gravity of the robot. Right now, the center of gravity is kept rather low, thanks to the low position of the two heaviest objects, the batteries and motors. Jacking up the robot using larger wheels puts the center of gravity higher, so there is a somewhat greater chance of the robot tipping over. You can minimize any instability by making sure that subsystems are added to the robot from the bottom of the riser and that the heaviest parts are positioned closest to the base. You can also mount the motor on the bottom of the frame instead of on top.
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