vb.net barcode reader FIGURE 21.1 Cutting diagram for the Roverbot. in Software

Printer Data Matrix in Software FIGURE 21.1 Cutting diagram for the Roverbot.

FIGURE 21.1 Cutting diagram for the Roverbot.
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MOTORS 323
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TABLE 21.1 FRAME
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PARTS LIST FOR ROVERBOT.
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2 2 3 4
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RISER
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12 5/8-inch length aluminum or steel shelving standard 9 1/8-inch length aluminum or steel shelving standard 4 3/16- by 9-inch galvanized nailing (mending) plate 1 1/4- by 3/8-inch flat corner iron
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15-inch length aluminum or steel shelving standard 7-inch length aluminum or steel shelving standard 10 1/2-inch length aluminum or steel shelving standard 1- by 3/8-inch corner angle iron
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MOTORS AND CASTER
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2 4 2 2 Misc
POWER
Gear reduced output 6 or 12 volt DC motors 2 1/2- by 3/8-inch corner angle iron 5- to 7-inch diameter rubber wheels 1 1/4-inch swivel caster Nuts, bolts, fender washers, tooth lock washers, etc. (see text)
6 or 12 volt, 1 or 2 amp hour batteries (voltage depending on motor) Battery clamps
Attach one 4 3/16-inch-by-9-inch mending plate to the left third of the base. Temporarily undo the nuts and bolts on the corners to accommodate the plate. Drill new holes for the bolts in the plate if necessary. Repeat the process for the center and left mending plate. When the three plates are in place, tighten all the hardware. Make sure the plates are secure on the frame by drilling additional holes near the inside corners (don t bother if the corner already has a bolt securing it to the frame). Use 8/32 by 1/2-inch bolts and nuts to attach the plates into place. The finished frame should look something like the one depicted in Fig. 21.2. The underside should look like Fig. 21.3.
Motors
The Roverbot uses two drive motors for propulsion and steering. These motors, shown in Fig. 21.4, are attached in the center of the frame. The center of the robot was chosen to help distribute the weight evenly across the platform. The robot is less likely to tip over if you keep the center of gravity as close as possible to the center column of the robot.
324 BUILD A ROVERBOT
Top view
FIGURE 21.2 The top view of the Roverbot, with three galvanized mending plates added (holes in the plates not shown).
The 12-volt motors used in the prototype were found surplus, and you can use just about any other motor you find as a substitute. The motors used in the prototype Roverbot come with a built-in gearbox that reduces the speed to about 38 rpm. The shafts are 1/4 inch. Each shaft was threaded using a 1/4-inch 20 die to secure the 6-inch-diameter lawn mower wheels in place. You can skip the threading if the wheels you use have a setscrew or can be drilled to accept a setscrew. Either way, make sure that the wheels aren t too thick for the shaft. The wheels used in the prototype where 1 1/2 inches wide, perfect for the 2-inch-long motor shafts. Mount the motors using two 2 1/2-inch-by-3/8-inch corner irons, as illustrated in Fig. 21.5. Cut about one inch off one leg of the iron so it will fit against the frame of the motor. Secure the irons to the motor using 8/32 by 1/2-inch bolts (yes, these motors have pretapped mounting holes!). Finally, secure the motors in the center of the platform using 8/32 by 1/2-inch bolts and matching nuts. Be sure that the shafts of the motors are perpendicular to the side of the frame. If either motor is on crooked, the robot will crab to one side when it rolls on the floor. There is generally enough play in the mounting holes on the frame to adjust the motors for proper alignment.
SUPPORT CASTERS 325
Bottom view FIGURE 21.3 Hardware detail for the frame of the Roverbot (bottom view).
Now attach the wheels. Use reducing bushings if the hub of the wheel is too large for the shaft. If the shaft has been threaded, twist a 1/4-inch 20 nut onto it, all the way to the base. Install the wheel using the hardware shown in Fig. 21.6. Be sure to use the tooth lock washer. The wheels may loosen and work themselves free otherwise. Repeat the process for the other motor.
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