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R/C Servo Fundamentals www.seattlerobotics.org/guide/servos.html Modifying R/C Servos to Full Rotation www.seattlerobotics.org/guide/servohack.html Definitive Guide to Stepper Motors www.cs.uiowa.edu/~jones/step/index.html Servo-Motor 101 www.repairfaq.org/filipg/RC/F_Servo101.html Dual Axis Stepper Motor Controller http://members.aol.com/drowesmi/dastep.html Using the Allegro 5804 Stepping Motor Controller/Translator www.phanderson.com/printer/5804.html
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Mechanical Prototypes and Parts www.emachineshop.com/ Quick Turn PCB Prototypes www.apcircuits.com/ Quick Turn PCB Prototypes www.pcbexpress.com/
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INDEX
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555 timer, 153, 385 386, 505 servo motor, 394, 402 shape-memory alloy (SMA), 460 461 tone generator, 576 577 556 timer, with servo motor, 402 403, 408 567 toner decoder, 576 802.11 wireless network card, 161 2001: A Space Odyssey, 21 Air Muscle, 469 Airtronics, 400 401 Amazon.com, 45 Amvets, 35 Analog Devices, 644 646 analog sensor, interfacing, 201 204. See also operational amplifier (opamp) circuit. cell voltage divider, 204 potentiometer voltage divider, 204 signal amplification, 202 signal buffering, 202 203 voltage comparator, 201 202 analog-to-digital converter (ADC), 192, 201, 204 207 bit resolution, 206 bits used, 205 circuit, sample, 206 207 concept, 205 with discrete logic chips, 206 input, single or multiplexed, 206 integrated microcontrollers, 206 output, parallel or serial, 206 resolution, 205 successive approximation, 205 voltage span, 205 AND statements, 210 211, 247 249 anthropomorphism, 668 arm, revolute coordinate, 466 467, 471 481. See also arms and hands; grippers. balance, correcting, 479 center of gravity, 478 counterweights, 478 479 DC motor, continuous, 479 degrees of freedom, 471 design, refinements, 478 elbow and forearm, 474 478 gripper, 471 472 human arm, compared to, 466 467, 471 infrared LED, 479 open-loop servo system, 479 parts list, 473
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arm, revolute coordinate (Cont.): phototransistor, 479 position control, 479 481 shaft encoder, incremental, 480 481 shoulder joint and upper arm, 472 473 stepper motor, 473, 479 switches, limit, 479 switches, optical, 479 weight, redistribution, 478 arm, types, 466 469. See also arms and hands; grippers. cartesian coordinate, 468 469 cylindrical coordinate, 467 polar coordinate, 467 revolute coordinate, 466 467, 471 481 arms and hands, 5, 19 20. See also arm, revolute coordinate; grippers. activation techniques, 469 470 built-on manipulators, 20 degrees of freedom, 466 end effectors, 20 General Electric, 19 human, compared to, 465 466 OWIKIT Robot Arm Trainer, 139 Robotix kit for, 134 135 stand-alone, 20 work envelope, 466 ASCII, 180, 194 balance, 310 311, 479, 643 base 2 numbers, 175 176 base 10 numbers, 175 176 BASIC Stamp 2 (BS2) application, selecting correct, 216 assembled development boards, 219 220 circuit diagram, 218 CMOS technology, 240 current for robot brain, 216 deadband in servo motors, 405 design architecture, 214 design suggestions, 252 developer options, 219 220 disadvantages, 214 ease of use, 252 EEPROM, 216 218 features, 213 214 from hacked toys, 143, 145 147 infrared (IR) light proximity sensor, 527 530 I/O Port Simulator, 223, 245 252 in joystick interface, 259
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BASIC Stamp 2 (BS2) (Cont.): LCD interface, 241 245 as learning tool, 219 LED outputs, 236 239 masking values by ANDing, 210 211 mathematical expressions, 178 momentary on button, 239 240 multiple ways to perform same task, 236 PBasic (See PBasic.) pulse width modulation (PWM), 363 364 servo motor, 394, 401 405, 408 setup, 233 236 for sound output control, 563 565 tone decoding detection, 574 BASIC Stamp product families, 215 216 batteries AC/DC power converters (wall wart), 302 breakdown voltage, 292 for Buggybot, 128 capacitor filtering techniques, 291 292, 294; benefits, 292 capacitors, selecting, 291 care guidelines, 288 289 ceramic vs. bus, 290 conditions of, 284 285 cost, 281; and weight, 306 current, determining, 290 current surge at robot startup, 286 dropout voltage, 295 fuse, 289 290 leaking, 289 linear voltage regulator, 294 295 monitors, 298 300; with microprocessors, 300; zener, 300; zener/comparator, 299 300 for motors, solenoids, and electronics, 281 noise, from motors, 292 noise in power lines, reducing, 291 292, 294 overcurrent, determining, 290 power loss, 295 power supply: DC output, 303; from laptops, 303; for robot testing, 300 303 pulse width modulation (PWM), 303 for Roverbot, 425 safety precautions, 278 selecting, 286; based on weight, 306 short circuits, 289 290
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