vb.net barcode scanner tutorial Parts list for the telepresence robot in Android

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Parts list for the telepresence robot
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(1) Miniature color camera with 2.4-GHz transmitter and receiver $99.95 (1) Optional battery pack $19.95 (1) Radio-control system proportional control [two-channel receiver, two-channel transmitter, Xtals, 2 servo motors (42-oz torque)] $62.95 (1) 1-ft length of Velcro material $4.50 Parts are available from: Images SI Inc. 39 Seneca Loop Staten Island, NY 10314 (718) 698-8305
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PLATFORMS ARE THE FOUNDATION FOR MOBILE ROBOTS. There are two options: build or buy. If one has good mechanical ability or is willing to learn, building a platform from scratch offers distinct advantages. The platform is designed and built for the specific task and purpose of a robot. One has an almost unlimited choice of drive motors, gearboxes, mechanical linkage, power supplies, etc. Buying a mobile platform relieves one from building a platform. But one is left with the gear ratio and power and speed designed for a different purpose. Here is a case in point: Most electric cars move too fast. If one doesn t have mechanical ability, this is the way to go. Typically one buys a radio-controlled (R/C) electric car. The radio controls are stripped from the unit. The electrical connections (wires) to the steering control and drive motor are retained. Here are some things to keep in mind when purchasing an electric car for conversion. First, don t choose a car that s too small or lies too close to the ground. A small size will make it difficult to fit sensor systems and microcontrollers onto the chassis. If the car lies too close to the ground, it will get stuck easily. Choose a car with a high wheelbase. Figure 10.1 shows an electric car that is a bad choice for turning into a mobile robot. It s too small to carry substantial weight, and notice how low to the ground it lies. This car will get stuck easily. Figure 10.2 shows a better choice. The platform is larger (can fit more components) and has a high wheelbase.
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10.1 Small electric RC car unsuitable for conversion
10.2 Large electric RC car suitable for conversion
Stepper motors
If one wants to build a platform, stepper motors make excellent drive motors. Some of the advantages of a stepper motor are as follows. Because a stepper motor turns in precise increments per step, a microcontroller can calculate the distance traveled by counting the clock pulses given to the stepper motor and knowing the diameter of the drive wheel. If two stepper motors are used on a mobile platform, one on each side, for locomotion and steering, precision turns are also possible. Because stepper motors are so important in robotics, we will look at the fundamental operation of stepper motors before we construct any circuits.
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Stepper motor construction and operation
Stepper motors are constructed using strong permanent magnets and electromagnets. The permanent magnets are located on the rotating shaft, called the rotor. The electromagnets or windings are located on the stationary portion of the motor, called the stator. Figure 10.3 illustrates a stepper motor stepping through one complete rotation. The stator, or stationary portion of the motor, surrounds the rotor. In Fig. 10.3, position 1, we start with the rotor facing the upper electromagnet that is turned on. To move in a clockwise (CW) rotation, the upper electromagnet is switched off as the electromagnet to the right is switched on. This causes the rotor to rotate 90 degrees to align itself to the electromagnet in a CW rotation, shown in position 2. Continuing in the same manner, the rotor is stepped through a full rotation until we end up in the same position as we started, shown in position 5.
The degree of rotation per pulse is the resolution of the stepper motor. In the illustrated example of Fig. 10.3, the rotor turned 90 degrees per pulse, not a very practical motor. A practical stepper motor has a greater resolution (smaller steps), for instance, one that rotates its shaft 1 degree per pulse (or step). This motor requires 360 pulses (or steps) to complete one revolution. When a stepper motor is used for locomotion or positioning in a linear motion table, each step of the motor translates to a precise increment of linear movement. Assume that one revolution of the motor is equal to 1" of linear travel. For a stepper motor that rotates 3.75 degrees per step, the increment of linear movement is approximately 0.01" per step. A stepper motor that rotates 1.0 degrees per step would give approximately 0.0027" per step. The increment of movement is inversely proportional to the degrees per step.
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