Creating Precision Robots A Project Based Approach to the Study of Mechatronics and Robotics 1st Edition by Francis Nickols, Yueh Jaw Lin 0128157585 9780128157589

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Product details:

ISBN 10: 0128157585

ISBN 13: 9780128157589

Author: Francis Nickols; Yueh Jaw Lin

 

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.

• Provides detailed instructions for the building and construction of specialized robots using line drawings
• Teaches students how to make real working robots with direct meaning in the engineering academic world
• Describes and explains the math and physics theory related to hitting, throwing and shooting robots

Creating Precision Robots A Project Based Approach to the Study of Mechatronics and Robotics 1st Table of contents:

Chapter 1: Tools, Cutting Techniques, Risk, Reliability, and Safety Issues

Learning Outcomes

1.1. Tools Required for Cutting and Gluing Cardboard

1.2. Marking Out the Cardboard

1.3. Cutting Straight Lines

1.4. Cutting Circles

1.5. Breaking Off Old Section to Expose a New Sharp Edge on the Box Cutter

1.6. Safety Concerns for the Hitting Robot

1.7. Safety Concerns for the Throwing Robot

1.8. Safety Concerns for the Catapult Robot

Chapter 2: Theory I: Ball Trajectory Computation Using Excel Spreadsheet

Learning Outcomes

2.1. Introduction

2.2. Discrete Dynamics Equation of Motion

2.3. Calculating the Ping-Pong Ball Acceleration Drag Coefficient, k

2.4. Excel Spreadsheet Tabulation, Computation, and Graphical Results

2.5. Notes on First, Second, and Subsequent Row Calculations and Values

2.6. Using the Trajectory Computation to Synthesize Some Useful Equations

2.7. Strategy for Setting Launch Velocity Using the Excel Spreadsheet Trajectory Computation

2.8. Competition Scoring System for Pocketing Balls in Baskets

Rules of the Ball-in-Basket Competition

2.9. Confirmation of the Deceleration Drag Constant, k (m-1)

2.10. Problems

Chapter 3: Theory II: The Basic Stamp Microcomputer

Learning Outcomes

3.1. Introduction to the Stamp Microcomputer

3.2. The Stamp Microcomputer Input/Output (I/O) Ports and Pins

3.3. Experiment #1. Reading a Low and a High on an Input Pin

3.4. Experiment #2. Setting a Low on an Output Pin

3.5. Experiment #3. Setting a High on an Output Pin

3.6. Short Circuit Protection of I/O Pins

3.7. The RCtime Instruction

3.8. The Basic Stamp and Its Integer Number Computation

3.9. Significant Figures and Decimal Places

3.10. Computation of Mathematical Function With Integers

3.11. Basic Stamp Equation Setup Procedure

3.12. Problems

Chapter 4: Theory III: The Stepper Motor and Its Control

Learning Outcomes

4.1. Introduction to the Stepper Motor and Its Power Drivers

4.2. 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

4.3. Assembly of the Stepper Motor Components

4.4. Coil Winding and Electromagnetic Polarity

4.5. Stator and Rotor Pole Piece Attraction

4.6. Coil Winding Methodology

4.7. Flux Distribution and How It Is Used to Step the Rotor in Increments

4.8. Stepper Motor Electrical Power Drivers

The Unipolar Circuit

4.9. Reason for High-Voltage 12V Power Supply

4.10. 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

4.11. The L298 “Keyes´´ Bipolar Driver

4.12. Leadshine DM542 Bipolar Microstepping Current Chopping Driver

4.13. Problems

Chapter 5: Theory IV: Collision Theory and Design Notes Related to the Hitting Robot

Learning Outcomes

5.1. Introduction

5.2. Theory of Collision Dynamics

5.3. Measurement of the Coefficient of Restitution, u

5.4. Hitting Constructional Design Features

5.5. Design of the Tee

5.6. Design of the Hitting Arm

5.7. Analysis of Ball Collision

Chapter 6: The Ball Hitting Robot: Design and Construction

Learning Outcomes

6.1. 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

6.2. Making the Tower That Supports the Heavy Stepper Motor

Now Start Gluing Up the Tower

6.3. Making the Hitting Arm

6.4. Making the Tee

6.5. Mounting the Electronics

6.6. Programming the Hitting Robot

6.7. Problems

Chapter 7: Theory V: The Angular Displacement Servomechanism, The “Servo´´

Learning Outcomes

7.1. Overview of the Servo

7.2. Block Diagram of the Integrated Servomechanism

7.3. Inside the Integrated Servo

Description of Each Component of the Integrated Servo

Datuming the Horn

7.4. Microcomputer Signal Control of the Servo

Servo Calibration

7.5. Square-Wave Angle Demand and Its Programming Code

7.6. Sawtooth Wave Angle Demand and Its Programming Code

7.7. Problems

Chapter 8: The 10-Ball Magazine Autoloader: Design and Construction

Learning Outcomes

8.1. Design Drawings

8.2. Gluing and Assembly Instructions

8.3. Wiring and Programming the Autoloader

Sample PBasic Stamp Code for Operating the Autoloader That Deposits a Ball Into the Tee

8.4. Problems

Chapter 9: Theory VI: Theory and Design Notes Related to the Throwing Robot

Learning Outcomes

9.1. Working Concept of the Throwing Robot

9.2. Basic Design Requirements of the Throwing Robot

9.3. Design of the Claw and Its Releasable Mechanism

9.4. Ball Release Kinematic Analysis

9.5. Forces Acting on Ping-Pong Ball During Rotation

In Conclusion

9.6. Method for Checking Adequacy of End-Effector Clutching Force

9.7. Repeatability Errors

9.8. Problems

Chapter 10: The Ball Throwing Robot: Design and Construction

Learning Outcomes

10.1. The Tower Structure (All Dimensions in mm)

10.2. The Smart Arm

Smart Arm Construction

10.3. Electrical Wiring of the Stepper Motor

10.4. Programming the Stepper Motor to Rotate the Smart Arm

10.5. The Smart Arm Electrical Circuitry

10.6. Real-Time Programming the Smart Arm

10.7. Problems

Chapter 11: Theory VII: Theory and Design Notes of the Catapult Robot

Learning Outcomes

11.1. Overview of the Catapult Launching System

11.2. The Spring Energy Storage Catapult System

11.3. The Shuttle Design

11.4. Mathematical Analysis of the Catapult Spring System

11.5. Launching Speed Precision

11.6. Problems

Chapter 12: The Catapult Robot: Design and Construction

Learning Outcomes

12.1. Base Structure Drawings

12.2. Base Structure Construction

12.3. Slideway Drawings

12.4. Slideway Construction

12.5. Shuttle and Pull-Back System Drawings

12.6. Construction of Shuttle and Pull-Back System

12.7. Assembly of Complete Robot

12.8. The “Winch´´ Servo

12.9. Programming the Catapult to Launch a Ball Automatically

12.10. Problems

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