vb.net barcode reader tutorial Building a Wooden Motorized Platform in Software

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9.5 Building a Wooden Motorized Platform
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Figs. 9.2 and 9.3 show approaches for constructing a basic square and round motorized wooden platform, respectively. See Table 9-1 for a list of the parts you ll need. To make the square plywood platform shown in Fig. 9-2, cut a piece of 3 8- or 1 2-in plywood to 10 by 10 in (the thinner 3 8-in material is acceptable if the plywood is the heavy-duty hardwood variety, such as aircraft-quality plywood). Make sure the cut is square. Notch the wood as shown to make room for the robot s wheels. The notch should be large enough to
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9.5 BUILDING A WOODEN MOTORIZED PLATFORM
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FIGURE 9-2 Cutting plan for a square plywood base.
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accommodate the width and diameter of the wheels, with a little breathing room to spare. For example, if the wheels are 6 in diameter and 1.5 in wide, the notch should be about 6.5 by 1.75 in. To make a motor control switch for this platform, see the parts list in Table 8-4 in 8.
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FIGURE 9-3 Cutting plan for a round plywood base.
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WOODEN PLATFORMS
TABLE 9-1 Base 2 2 1 2 1 Misc.
Parts List For Wood Base 10 by 10 3 8 to 1 2 thick plywood DC gear motors 5 to 7 rubber wheels 11 4 caster wheel 2 by 4 lumber (see text) 4 D cell battery holder 1 by 10 24 stove bolts, 3 by 10 24 stove bolts, 10 24 nuts and flat washers, 11 4 by 8 32 stove bolts, 8 32 nuts, flat washers, and lock washers
Fig. 9-3 shows the same 10-in-square piece of 3 8- or 1 2-in plywood cut into a circle. Use a scroll saw and circle attachment for cutting. As you did for the square platform, make a notch in the center beam of the circle to allow room for the wheels the larger the wheel, the larger the notch.
9.5.1 ATTACHING THE MOTORS
The wooden platform you have constructed so far is perfect for a fairly sturdy robot, so the motor you choose can be powerful. Use heavy-duty motors, geared down to a top speed of no more than about 75 r/min; 30 to 40 r/min is even better. Anything faster than 75 r/min will cause the robot to dash about at speeds exceeding a few miles per hour, which is unacceptable unless you plan on entering your creation in the sprint category of the Robot Olympics. Note: you can use electronic controls to reduce the speed of the gear motor by 15 or 20 percent without losing much torque, but you should not slow the motor too much or you ll lose power. The closer the motor operates at its rated speed, the better results you ll have. Throttling motors will be discussed later in the book. If the motors have mounting flanges and holes on them, attach them using corner brackets. Some motors do not have mounting holes or hardware, so you must fashion a holddown plate for them. You can make an effective hold-down plate, as shown in Fig. 9-4, out of 2 by 4 lumber. Round out the plate to match the cylindrical body of the motor casing. Then secure the plate to the platform. Last, attach the wheels to the motor shafts. You may need to thread the shafts with a die so you can secure the wheels. Use the proper size nuts and washers on either side of the hub to keep the wheel in place. You ll make your life much easier if you install wheels that have a setscrew. Once they are attached to the shaft, tighten the setscrew to screw the wheels in place.
9.5.2 STABILIZING CASTER
Two motors and a centered caster, attached to the robot s base as depicted in Fig. 9-5, allows you to have full control over the direction your robot travels. You can make the robot
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