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30.4 SOFT TOUCH AND COMPLIANT COLLISION DETECTION
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Extend the same care to laser diodes that you do to any static-sensitive device. Wear an anti-static wrist strap while handling the bare laser element, and keep the device in a protective, anti-static bag until it s ready for use. Use only a grounded soldering pencil when attaching wires to the laser diode terminals. Limit soldering duration to less than 5 s per terminal. Never connect the probes of a volt-ohm meter across the terminals of a laser diode. The current from the internal battery of the meter may damage the laser. Use only batteries or well-filtered AC power supplies. Laser diodes are susceptible to voltage transients and can be ruined when powered by poorly filtered line-operated supplies. Take care not to short the terminals of the laser during operation. Avoid looking into the window of the laser while it is operating, even if you can t see any light coming out (is the diode the infrared type ). Unless otherwise specified by the manufacturer, clean the output window of the laser diode with a cotton swab dipped in technical-grade isopropyl alcohol (less than 20% water). Alternatively, you can use optics-grade lens cleaning fluid. If you are using a laser from a laser penlight, bear in mind that the penlight casing acts as a heat sink. If you remove the laser from the penlight casing, be sure to attach the laser to a suitable heat sink to avoid possible damage. If you keep the laser in the casing, there is usually no need to add the heat sink the casing should be enough.
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30.4.2 PIEZO DISC TOUCH BAR
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The laser-optic whisker system described earlier is a great way to detect even your robot s minor collisions. But it may be overkill in some instances, providing too much sensitivity for a zippy little robot always on the go. The soft-touch collision sensor described in this section, which uses commonly available piezo ceramic discs, is a good alternative to the laseroptic whisker system for lower-sensitivity applications. This sensor is constructed with a half-round bar to increase the area of contact. Construction of the Piezo Disc Touch Bar The main sensing elements of the piezo disc touch bar are two 1-in-diameter bare piezo ceramic discs. These discs are available at Radio Shack and many surplus electronics stores; they typically cost under $1 or $2 each, and you can often find them for even less. You attach the discs to a 61 2-in long support bar, which you can make out of plastic, even a long LEGO Technic beam. As shown in Fig. 30-31, you glue the discs into place with 1 8-in foam (available at most arts and craft stores) so it sticks to the ceramic surface of the disc and acts as a cushion. You then bend a length of 1 8-in-diameter aluminum tubing (approximately 8 to 9 in) into a half-circle; thread through two small grommets, as shown in Fig. 30-32; and glue the grommets to the support bar. You flatten the ends of the tubing and bend them at right angles to create a foot; the foot rests on the foam-padded surface of the discs. The half-round tubing slopes downward slightly on the prototype. This is intentional, so the robot can adequately sense objects directly in front of it near the ground. To construct the piezo disc touch bar prototype, hot-melt glue was used to attach the discs and grommets to the support bar. You can use most any other adhesive or glue you
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FIGURE 30-31 Glue the piezo discs to a piece of plastic; the plastic is a support bar for the discs that also makes it easier to mount the touch bar sensor onto your robot.
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wish, but be sure it provides a good, strong hold for the different materials used in this project (metal, plastic, and rubber). Constructing the Interface Circuit Piezo discs are curious creatures: when a voltage is applied to them, the crystalline ceramic on the surface of the disc vibrates. It is the nature of piezoelectricity to be both a consumer and a producer of electricity. When the disc is connected to an input, any physical tap or pressure on the disc will produce a voltage. The exact voltage is approximately proportional to the amount of force exerted on the disc:
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FIGURE 30-32 The finished prototype of the piezo disc touch bar. One variation is to mount the discs a little lower so the metal bar physically deforms the disc rather than pushes against its center.
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