Creating Precision Robots: A Project-Based Approach to the Study of Mechatronics and Robotics

✍ Scribed by Francis Nickols, Yueh Jaw Lin

• Publisher: Butterworth-Heinemann
• Year: 2018
• Tongue: English
• Leaves: 268
• Category: Library

✦ Synopsis

Creating Precision Robots: A Project-Based Approach to the Study of Mechatronics and Robotics shows how to use a new "Cardboard Engineering" technique for the handmade construction of three precision microcomputer controlled robots that hit, throw and shoot. Throughout the book, the authors ensure that mathematical concepts and physical principles are not only rigorously described, but also go hand-in-hand with the design and constructional techniques of the working robot. Detailed theory, building plans and instructions, electric circuits and software algorithms are also included, along with the importance of tolerancing and the correct use of numbers in programming.

The book is designed for students and educators who need a detailed description, mathematical analysis, design solutions, engineering drawings, electric circuits and software coding for the design and construction of real bench-top working robots.

✦ Table of Contents

Cover
Creating Precision Robots:

A Project-Based Approach to the Study of
Mechatronics and Robotics
Copyright
Preface
An Overview of What This Book Does
The Teaching Philosophy
Resources
Acknowledgments
1
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
2
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
3
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
4
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 5 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 6 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
7
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 8 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 9 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 10 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 11 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 12 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
A
B
C
D
E
F
G
H
I
J
K
L
M
N
O
P
Q
R
S
T
U
V
W
Back Cover