How to make computer-controlled robots PDF
Preview How to make computer-controlled robots
HOW TO MAKE FOR C64, VIC 20, SPECTRUM & BBC USBORNE ELECTRONIC WORKSHOP. HOWTOMAKE COMPUTER-CONTROLLED Tony Potter CONTENTS 2 How to use this book 26 Making robot sensors 3 About robots 28 How to make a light sensor 4 Building a robot 30 Making a switching circuit 6 Things you need 32 Connecting the robot, circuit 8 Robot construction tips and computer 10 Making the robot base 34 Test programs 12 How to make the shoulder 36 Robot control program 14 Making the arm 38 Instructing your robot 16 Making the gripper 39 Shopping list 20 Customizing your robot 42 Templates 22 Electronics and soldering 48 Indexand 24 Electronic components circuit diagram Robot designed by Tony Potter and Chris Oxlade Robot program by Chris Oxlade Illustrated by Jererny Gower Additional Illustrations by Simon Roulstone, Chris Lyon, Jeremy Banks, Graham Round, Diane Potter, Hussein Hussein. Technical consultants: Colin Motteram, John Hawkins and Bill Finder. How to use this book In this book you can find out Building the robot about computer-controlled robots and how to make The book is divided into them. There are step-by-step sections, showing how to make instructions showing how to one part of the robot at a time. After build a robot which moves each section there are tests and checks to around on wheels and picks make sure the part works properly before you things up with its gripper. go on. At the back of the book there are This is shown below, templates to copy and use to make all the robot painted orange. parts. The robot is designed so All versions of the robot that you can make different work with the computers versions. If you like, you can shown above. You need to To connect your robot to make a robot vehicle like the buy an extra part, called an a computer, there is an blue one below (this is the interface*, for the Spectrum. electronic circuit to simplest version). Miss out There is a program at the make. This controls the pages!2-19 to do this. back of the book for these four small battery- Alternatively, you could computers, and a special set powered motors, which make a stationary arm robot of robot instructions, called drive the robot. You could invent a robot of by leaving off the wheels Robotrol, which you can use your own, with up to four and wheel motors. There are to control the robot. There motors, and use this also customizing ideas on are also test programs to circuit to control it. pages 20-21, so you can check the robot All robots are precise make different works. and accurate machines robots from with lots of moving parts the same that have to fit together design. for the robot to work. You need to take your time This and follow the instructions is a robot in this book very carefully vehicle to be successful. with a Throughout the book stomized cover. there are lots of practical hints and tips on robot building, and explanations of soldering and electronics. There are also added extras to make for all versions. This is the complete version of the robot. * See pages 9 and 41. About robots Real robots are quite different from those of science fiction. They are computer- controlled machines, programmed to use Toy mobile robol tools or move goods. The study of them is called robotics. Robots are used in industry, There are two main types of Industrial robot. Those with wheels or arm robot sometimes replacing people, but often doing which move on tracks are called work which is too dangerous for men and mobile robots. Robots which can women. Others, like the rob ot in this b ook hold things are called arm or and some shown on this page, are for fun or manipulative robots. The robot learning about robotics and computers. to make in this book is an arm and mobile robot combined. Micro-robots A micro-robot is a small robot controlled by a home computer. These pictures show some of those available. Armdroid This micro arm robot has joints at the shoulder, elbow, wrist and base. The directions in which the arm can move are called axes of rotation. Turtle Using a computer language called LOGO, the Turtle can be programmed to draw with a pen as it Buggy moves around. LOGO uses commands like "F 20" for The Buggy is made from a o forward 20 units, or "L45" construction kit, and you for left 45 degrees. can add extra parts, like ? an arm, on top. It has a light sensor at the front Topo which detects the Topo is designed as a difference between household help. With "light" and "dark". You sensors that are being can program a computer developed, it may to use this information to eventually find its way make the Buggy follow a around a house to do the line. The robot in this cleaning. book has a similar sensor. WF Building a robot This cut-away picture shows the finished Wires to computer. robot. The instructions in the book show how to make one part at a time, and these are painted in different colours to make it Sensor to detect when Elastic bands to pull easier to see what they are. You need not jaws are closed. jaws open. build all these parts if you want to make either a robot vehicle or a stationary arm robot. Sensor to detect when jaws are open. Sensors The robot has simple sensors which tell the computer when the arm is fully up or down, whether the jaws are holding A robot's "hand" is called a gripper. This has something and if the gripper is open or two "fingers" or jaws which open and close to closed. There is also a light sensor you pick things up and put them down. The jaws can make to give the robot extremely open to about 70mm and can lift something simple "vision". the weight of a small apple. The robot has an arm which moves up and The base of the robot is a flat board with two down. It is designed so that as the arm moves, wheels driven by electric motors. By the gripper always stays parallel to the programming a computer to switch the motors ground. The arm is able to travel about 200mm on and off, the robot can be made to go up and down. forwards or backwards, left and right. Electronic switching circuit You need to build an electronic circuit, called a switching circuit, to control the robot with your computer. This is made of Battery wires. electronic components which switch the robot's motors on and off when signals are sent by the computer. Light sensor detects Electronic switching difference between light and dark. circuit Shoulder Light shows robot is The shoulder supports the switched on. robot's arm. Fishing line control cables, to move the gripper and arm, pass through the shoulder to motors on the base. Sensor to detect when Sensor to detect when arm is up. arm is down. Gripper motor Gearbox to reduce speed of motor. Velcro to hold light sensor injaJace. Left-hand drive motor On/off light \ circuit. There is a shopping list of everything you need to build the robot on pages 39-41. Wires to robot. Make the red and green Make the blue and parts for a robot orange parts for an vehicle. arm robot. Things you need Here you can see all the things needed to make and control the robot. Model and hardware shops sell most things, but you need to get the Table or bench electronic parts from a components shop. Ask in your local TV repair shop to find out where the nearest components supplier is. You can also buy components by post. There is a complete shopping list on pages 39-41, showing sizes and amounts of things to buy, with a list of useful mail-order suppliers. Tools The tools you need are shown on the right. ^^ ^S^{ Wire 'Scissors strippers ^Small vice or home-made clamp V Tenon saw (or panel saw) Materials you need Insulating tape These are the materials needed to construct the robot. Sticky tape V It is a good idea to get everything before you begin. 6mm square balsa spar (stick-shape) Brass shim \ Cored (thin metal sheet) Clear glue or solder balsa cement Tin foil 6-12mm thick Velcroor plywood or chipboard double-sided sticky tape Thin foam rubber Computer Electronic components Veroboard (used to build I ,^«^^ circuit on). An electronic component is a BBC Model B small device which controls the flow of electricity. There are many kinds, all controlling electricity indifferent ways. Components are connected together to make a circuit. Those shown here are used to make the switching circuit for the robot. You can find out more about them on pages 22 and 24, and in the shopping list. Relay Potentiometer (a kind of or variable Spectrum switch). ight resistor dependent V ight-emitting diode To control a robot you need a resistor (LED for short). (LDRfor home computer with a special short). s socket, or port, called a 6 parallel input/output port. Computers with this port include the Commodore 64, nnecting VIC 20 and BBC B. You can block (for buy an extra part for the connecting Spectrum called an I/O wires together). Ribbon cable | interface, which enables it to control a robot. The project robot is designed to work with these computers, using the program on page 36. Fishing line or strong twine Small wood or ite spirit or 2 compression self-tapping screws Draw]^n urps substitute springs Wheels (minimum 2 tension diameter 60mm). springs (sort that goes springy when stretched). Robot construction tips To be successful you need to Cutting balsa cut and drill all the robot parts very accurately and Be very careful carefully. This page gives when using a craft knife. some construction hints and Always use a tips. You can also find out sharp blade. how to use the templates at the back of the book. Home-made clamp Balsa Butterflynuts Cut the balsa with a sharp craft on. Always hold the knife knife, using a metal ruler as a firmly. Stand to one side guide. Use a piece of and cut towards yourself but hardboard or plywood to work away from your body. Tube drill Test bench reports You can make a home made bit to drill accurate Motors holes in balsa for tube to go through. Shoulder Plywood or 6mm coach ^|^ chipboard 100mm Arm bolt 50mm long tube Gripper Make a clamp like this to keep materials steady while 1 Cutoff Control lines drilling and cutting. Glue or a 100mm length D Cover screw the clamp to your of metal tube. workboard. Solder check Cutting tUbe Metalrod Circuit pushed in D up to Sensor test here. 2 File one end flat. File angle. After building each part of the robot, there are tests and f Tube checks to do to make sure it Home-made clamp 3 Put the tube works. You could make a Some parts of the robot are in a hand drill chuck. "Test bench report" like this made from metal rod which While you turn the and tick the tests off as you go. fits snugly inside thin tube. handle, get someone else If your robot fails any test, Clamp the tube or rod in a vice to sharpen the end with a there are checks and or home-made clamp and cut file. Use the sharpened tube adjustments to make. You it with a hacksaw. Push a instead of a drill bit, as it is must make sure each part of piece of metal rod inside the more accurate. It will need the robot works properly, or clamped part of the tube to re-sharpening several times. the completed robot will not 8 avoid crushing it. work either.
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