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 theInstep 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
TheWinch´´ 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