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THE ROBOT EXPERIMENTER
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cialty shops in your unrelenting quest your thirst for all kinds and sizes of motors, batteries, gears, wires, switches, and other odds and ends. Like Dr. Frankenstein, you galvanize life from these dead parts. If you have not yet built your first robot, you re in for a wonderful experience. Watching your creation scoot around the floor or table can be exhilarating. Those around you may not immediately share your excitement, but you know that you ve built something however humble with your own hands and ingenuity. And yet if you have built a robot, you also know of the heartache and frustration inherent in the process. You know that not every design works and that even a simple engineering flaw can cost weeks of work, not to mention ruined parts. This book will help you beginner and experienced robot maker alike get the most out of your robotics hobby.
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1.1 The Building-Block Approach
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One of the best ways to experiment with and learn about hobby robots is to construct individual robot components, then combine the completed modules to make a finished, fully functional machine. For maximum flexibility, these modules should be interchangeable whenever possible. You should be able to choose locomotion system A to work with appendage system B, and operate the mixture with control system C or any variation thereof. As you start trying to create your own robots, using a building-blocks approach allows you to make relatively simple and straightforward changes and updates. When designed and constructed properly, the different building blocks, as shown in diagram form in Fig. 1-1, may be shared among a variety of robots. Most of the building-block designs presented in the following chapters are complete, working subsystems. Some operate without ever being attached to a robot or control computer. The way you interface the modules is up to you and will require some forethought and attention on your part (this book does not provide all the answers!). Feel free to experiment with each subsystem, altering it and improving upon it as you see fit. When it works the way you want, incorporate it into your robot, or save it for a future project.
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What skills do you need as a robot experimenter Certainly, if you are already well versed in electronics, programming, and mechanical design, you are on your way to becoming a robot experimenter. But intimate knowledge of these fields is not absolutely necessary; all you really need to start in the right direction as a robot experimenter is a basic familiarity with electronic theory, programming concepts, and mechanics (or time and interest to study the craft). The rest you can learn as you go. If you feel that you re lacking in either beginning electronics or mechanics, pick up a book or two on these subjects at the bookstore or library (see Appendix A, Further Reading, for a selected list of suggested books and mag-
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Drive Motors or Legs
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Vision System
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FIGURE 1-1 The basic building blocks of a fully functional robot, including central processor (brain), locomotion (motors), and sensors (switches, sonar, etc.).
azines). In addition, you may wish to read through the seven chapters in Part 1 of this book to learn more about the fundamentals of electronics and computer programming.
1.2.1 ELECTRONICS BACKGROUND
Start by studying analog and digital electronic theory, and learn the function of resistors, capacitors, transistors, and other common electronic components. Your knowledge need not be extensive, just enough so that you can build and troubleshoot electronic circuits for your robot. You ll start out with simple circuits with a minimum of parts, and go from there. As your skills increase, you ll be able to design your own circuits from scratch, or at the very least, customize existing circuits to match your needs. Schematic diagrams are a kind of recipe for electronic circuits. The designs in this book, as well as those in most any book that deals with electronics, are in schematic form. You owe it to yourself to learn how to read a schematic as there are really only a few dozen common schematic symbols you will have to familiarize yourself with. Several books have been written on how to read schematic diagrams, and the basics are also covered in 5, Electronic Components. See also Appendix A for a list of suggested books on robotics.
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