Creating Precision Robots
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Front-Matter_2019_Creating-Precision-Robots Title Page Copyright_2019_Creating-Precision-Robots Copyright Preface_2019_Creating-Precision-Robots Preface An Overview of What This Book Does The Teaching Philosophy Resources Acknowledgments_2019_Creating-Precision-Robots Acknowledgments Chapter-1---Tools--Cutting-Techniques--Risk--Reliabil_2019_Creating-Precisio Tools, Cutting Techniques, Risk, Reliability, and Safety Issues Learning Outcomes Tools Required for Cutting and Gluing Cardboard Marking Out the Cardboard Cutting Straight Lines Cutting Circles Breaking Off Old Section to Expose a New Sharp Edge on the Box Cutter Safety Concerns for the Hitting Robot Safety Concerns for the Throwing Robot Safety Concerns for the Catapult Robot Chapter-2---Theory-I--Ball-Trajectory-Computation-Usi_2019_Creating-Precisio Theory I: Ball Trajectory Computation Using Excel Spreadsheet Introduction Discrete Dynamics Equation of Motion Calculating the Ping-Pong Ball Acceleration Drag Coefficient, k Excel Spreadsheet Tabulation, Computation, and Graphical Results Notes on First, Second, and Subsequent Row Calculations and Values Using the Trajectory Computation to Synthesize Some Useful Equations Strategy for Setting Launch Velocity Using the Excel Spreadsheet Trajectory Computation Competition Scoring System for Pocketing Balls in Baskets Rules of the Ball-in-Basket Competition Confirmation of the Deceleration Drag Constant, k (m-1) Problems Chapter-3---Theory-II--The-Basic-Stamp-Microcomp_2019_Creating-Precision-Rob Theory II: The Basic Stamp Microcomputer Learning Outcomes Introduction to the Stamp Microcomputer The Stamp Microcomputer Input/Output (I/O) Ports and Pins Experiment #1. Reading a Low and a High on an Input Pin Experiment #2. Setting a Low on an Output Pin Experiment #3. Setting a High on an Output Pin Short Circuit Protection of I/O Pins The RCtime Instruction The Basic Stamp and Its Integer Number Computation Significant Figures and Decimal Places Computation of Mathematical Function With Integers Basic Stamp Equation Setup Procedure Problems Chapter-4---Theory-III--The-Stepper-Motor-and-Its_2019_Creating-Precision-Ro Theory III: The Stepper Motor and Its Control Introduction to the Stepper Motor and Its Power Drivers Main Components Making Up the Stepper Motor Component 1. The Axle Component 2. The Rotor Pole Piece Component 3. The Permanent Magnet Component 4. The Disc Spacer Component 5. The Stator Assembly of the Stepper Motor Components Coil Winding and Electromagnetic Polarity Stator and Rotor Pole Piece Attraction Coil Winding Methodology Flux Distribution and How It Is Used to Step the Rotor in Increments Stepper Motor Electrical Power Drivers The Unipolar Circuit Reason for High-Voltage 12V Power Supply Basic Stamp Programming of Unipolar Modes 1-Phase-on Mode Determination of Pull-In Speed Determination of Pull-Out Speed Pull-Out Speed 2-Phase-On Step Mode Half-Step Mode The Bipolar Circuit The L298 ``Keyes´´ Bipolar Driver Leadshine DM542 Bipolar Microstepping Current Chopping Driver Problems Chapter-5---Theory-IV--Collision-Theory-and-Design-Note_2019_Creating-Precis Theory IV: Collision Theory and Design Notes Related to the Hitting Robot Introduction Theory of Collision Dynamics Measurement of the Coefficient of Restitution, u Hitting Constructional Design Features Design of the Tee Design of the Hitting Arm Analysis of Ball Collision Chapter-6---The-Ball-Hitting-Robot--Design-and-Con_2019_Creating-Precision-R The Ball Hitting Robot: Design and Construction Learning Outcomes Making the Base Plate First Make the ``Instep Jig´´ Now Start Making the Parts Note All Units Are Millimeter and All Parts Are 1.5 mm Thick Cardboard Making the Tower That Supports the Heavy Stepper Motor Now Start Gluing Up the Tower Making the Hitting Arm Making the Tee Mounting the Electronics Programming the Hitting Robot Problems Chapter-7---Theory-V--The-Angular-Displacement-Servom_2019_Creating-Precisio Theory V: The Angular Displacement Servomechanism, The ``Servo´´ Overview of the Servo Block Diagram of the Integrated Servomechanism Inside the Integrated Servo Description of Each Component of the Integrated Servo Datuming the Horn Microcomputer Signal Control of the Servo Servo Calibration Square-Wave Angle Demand and Its Programming Code Sawtooth Wave Angle Demand and Its Programming Code Problems Chapter-8---The-10-Ball-Magazine-Autoloader--Design-_2019_Creating-Precision The 10-Ball Magazine Autoloader: Design and Construction Learning Outcomes Design Drawings Gluing and Assembly Instructions Wiring and Programming the Autoloader Sample PBasic Stamp Code for Operating the Autoloader That Deposits a Ball Into the Tee Problems Chapter-9---Theory-VI--Theory-and-Design-Notes-Relate_2019_Creating-Precisio Theory VI: Theory and Design Notes Related to the Throwing Robot Working Concept of the Throwing Robot Basic Design Requirements of the Throwing Robot Design of the Claw and Its Releasable Mechanism Ball Release Kinematic Analysis Forces Acting on Ping-Pong Ball During Rotation In Conclusion Method for Checking Adequacy of End-Effector Clutching Force Repeatability Errors Problems Chapter-10---The-Ball-Throwing-Robot--Design-and-C_2019_Creating-Precision-R The Ball Throwing Robot: Design and Construction Learning Outcomes The Tower Structure (All Dimensions in mm) The Smart Arm Smart Arm Construction Electrical Wiring of the Stepper Motor Programming the Stepper Motor to Rotate the Smart Arm The Smart Arm Electrical Circuitry Real-Time Programming the Smart Arm Problems Chapter-11---Theory-VII--Theory-and-Design-Notes-of-_2019_Creating-Precision Theory VII: Theory and Design Notes of the Catapult Robot Overview of the Catapult Launching System The Spring Energy Storage Catapult System The Shuttle Design Mathematical Analysis of the Catapult Spring System Launching Speed Precision Problems Chapter-12---The-Catapult-Robot--Design-and-Const_2019_Creating-Precision-Ro The Catapult Robot: Design and Construction Learning Outcomes Base Structure Drawings Base Structure Construction Slideway Drawings Slideway Construction Shuttle and Pull-Back System Drawings Construction of Shuttle and Pull-Back System Assembly of Complete Robot The ``Winch´´ Servo Programming the Catapult to Launch a Ball Automatically Problems Index_2019_Creating-Precision-Robots Index A B C D E F G H I J K L M N O P Q R S T U V W
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