Table of contents
About the author (17)
About the substantive revision (19)
Thanks (21)
Introduction (23)
- Who is this book for? (23)
- "Where is the chapter about the killer's work?" (23)
- "Houston, we have a problem!" (23)
- Aren't you ready to learn how to solder? (24)
- LEGO is not enough, but still don't want to solder? (24)
- Note on parts list (24)
- Stay tuned (24)
Chapter 1. Hello, Robot Maker! (25)
- Four areas (25)
- Anatomy of an amateur robot (26)
- Control systems (27)
- Electricity supply (27)
- Sensors (29)
- Drive and interaction with the environment (30)
- Other elements (31)
- Body (32)
- Construction process (32)
- Piece by piece (33)
- Creation of components (33)
- Relax and have fun (33)
- Find companions and help (35)
- Further into the forest (35)
Chapter 2 Where to get tools and components (37)
- Order free information (37)
- Read the hidden information (38)
- Note the columns (38)
- Number of pages (39)
- Compare prices (39)
- Save money (39)
Chapter 3 Safety rules (43)
- Benefit from age and experience (43)
- Follow the instructions (43)
- Reading labels on chemicals (44)
- Wear safety glasses (44)
- Hang up your glasses or put your glasses up (45)
- Use protective clothing (45)
- Ensure proper ventilation (45)
- Properly store materials and tools (46)
- Keep me informed about what you do and what you use (46)
- Wash yourself before eating (46)
- Avoid hazardous substances (46)
- Lead (47)
- Mercury (47)
- Cadmium (48)
- Buy safe parts with RoHS marking (48)
- Injuries (49)
- Direct current or alternating current (49)
- Use rechargeable batteries and company chargers (49)
- Use of automatic fuses and circuit breakers (49)
- Take care of the earthing (51)
- Turn off the power (52)
- Stay away from dangerous robots (52)
- Select the engine size (52)
- Select the lighting (52)
- Be rested and balanced (53)
Chapter 4 Universal Digital Meter (55)
- Necessary features (56)
- It should be a digital meter (56)
- Number of digits displayed (56)
- DC voltage measurement (57)
- DC measurement (57)
- Resistance measurement (57)
- Test tips or leads (57)
- Fuse or overload protection (57)
- Useful features (58)
- Capacity measurement (58)
- Diode test (58)
- Circuit continuity test (58)
- Frequency measurement (58)
- Measurement of the filling of the mileage (59)
- Automatic range selection (59)
- Automatic switch-off (60)
- Transistor measurement (60)
- Dual display (61)
- Measurement of the maximum value (61)
- Minimum value measurement (61)
- Stand (61)
- Additional features (62)
- Inductance measurement (62)
- RS-232 or USB communication interface (62)
- Oscilloscope function (62)
- Backlighting (63)
- Pulse width stopwatch (63)
- Temperature measurement (63)
- Sound intensity measurement (63)
- Event counter (63)
- Bar indicator (63)
- Stopping the measurement value (64)
- Reading support (64)
- Measurement of logical states (64)
- Measurement memory (64)
- Relative measurement (64)
- Offset measurement (64)
- Overdrive detection (65)
- Handle or rubber boot (65)
- AC functions (65)
- Measurement of alternating voltage (65)
- True RMS" measurement (true rms value) (66)
- Alternating current measurement (66)
- Get the hook clamps (66)
- Comparison of specific measures (67)
- The possibilities of a cheap meter (67)
- Mid-range meter capabilities (69)
- Upper class capability (70)
- Price and opportunity comparison (72)
- Continue working without a meter (72)
Chapter 5 Values and units (73)
- Metric system selection (73)
- Getting rid of the powers of the thousand (73)
- "M" and "m" (75)
- Alternative to the Greek "micro" (75)
- Abbreviations for units (76)
- When space is short (76)
- Determination of missing unit (77)
- Three digit decoding (78)
- Conversion of colours into values (78)
- Determination of the value of an item using a digital meter (80)
- I discussed the basics (80)
Chapter 6: Robot following the line (81)
- Route construction (82)
- Route area (82)
- Route Lighting (82)
- Route mapping line (82)
- Turns and line intersections (84)
- Route construction - summary (85)
- Robot size selection (85)
- I'd like to introduce you to the "sandwich" (86)
- The anatomy of "Sandwiches" (86)
- Sandwich body (91)
- Construction (94)
Chapter 7 9-volt batteries and accumulators (95)
- Battery voltage measurement (96)
- Preparing the meter for voltage measurement (96)
- Interpretation of measurement results (98)
- Characteristics of 9-volt batteries and accumulators (98)
- Recommendations for 9-volt cells (100)
- Recommended links (100)
- Not recommended cells (102)
- Cell brands and manufacturers (104)
- Use of 9-volt cells in robots (104)
- Battery installation (105)
- Let's go with the current (106)
Chapter 8 Clamps and measuring terminals (107)
- Crocodiles are hungry today (107)
- Lashing clamps (108)
- Checking the measuring cables (109)
- Circuit continuity measurement mode setting (109)
- Open circuit test (110)
- Closed circuit test (111)
- Bridging wire to crocodile connection test (111)
- Detection of unwanted calls (112)
- Plumber with cables (113)
Chapter 9 Resistors (115)
- Voltage and current limitation with resistors (115)
- Get a set of resistors with different values (116)
- Why size and tolerance are important (116)
- Cut-outs (117)
- Resistance and washes (118)
- Resistance measurement (119)
- Interpretation of the resistance value displayed by the meter (119)
- Get to know the measuring ranges of resistance (120)
- Checking the resistor value on-line (121)
- Marking and storage (121)
- Get the part containers (122)
- Stop the temptation to jump a piece (123)
Chapter 10 Lights (LEDs) (125)
- Light-emitting diode characteristics (125)
- Sizes of light emitting diodes (125)
- Light-emitting diode shapes (127)
- Led housing transparency (128)
- Angles of vision (129)
- Diode colours (129)
- Brightness of light emitting diodes (130)
- Efficiency of light emitting diodes (131)
- A close look at the construction of the diode (131)
- Distinguishing between multicoloured diodes (132)
- Two-colour diodes (133)
- Tri-coloured or tri-state diodes (133)
- Full colour diodes (133)
- Checking the light-emitting diodes (134)
- Preparation of the meter for diode testing (134)
- Interpretation of LED test results (135)
- Diodes in sets (137)
- We lighten the road (137)
Chapter 11. Turn on the power! (139)
- We are familiar with the list of elements (139)
- Checking parts before assembly (139)
- Reading electrical diagrams (140)
- We build a power indicator circuit (141)
- Can you see the light? (142)
- Several experiments with the power indicator circuit (142)
- Tasks of each element (142)
- Power indicator circuit measurements (142)
- Measurement of voltage in the circuit (143)
- Current measurement (146)
- Calculation of battery life (147)
- Do not attempt to measure the voltage with the wire inserted into the current measurement socket (150)
- Summary of knowledge of the circuits (151)
Chapter 12: construction of prototypes without soldering (153)
- The need for something better (153)
- Mounting plates not requiring soldering (153)
- Connections in holes (154)
- Connection sockets (158)
- Contact plates highly desirable (159)
- Cables for contact plate operation (160)
- Selection of bridging cables (161)
- How to make your own bridging wires (163)
- Insulation removal from cable ends (163)
- Cutting the cable to the correct length (164)
- Bend the cable ends (165)
- Calls (167)
Chapter 13 Preparation of the prototype plate for operation (169)
- Power source considerations (169)
- Clips for 9 V batteries (170)
- Connecting the power supply to the socket outlets (170)
- Power switch selection (171)
- What does SPDT mean? (172)
- Installation of the power switch on the prototype plate (173)
- Power bus connection (173)
- Fitting the measuring terminals of the meter with the bridging cable (173)
- Connecting the lower power bus (175)
- Midway split (175)
- Installation of the LED power indicator (175)
- Voltage measurement at selected points (176)
- Trimming of exits (176)
- The whole truth about the robot power switch (177)
- Ready for more? (178)
Chapter 14 Variable resistors (179)
- Potentiometers (179)
- Tuning potentiometer (180)
- Rotating the dial (181)
- Purchase of trimmers (181)
- Potentiometer measurements (181)
- Circuit with adjustable brightness LED (183)
- Circuit design with adjustable brightness diode (184)
- Diode brightness balancing circuit (184)
- Circuit design to balance diode brightness (185)
- Photoresistors based on cadmium sulphide (185)
- Choice of photoresistors (186)
- Experience with a photoresistor (187)
- Light controlled circuit (187)
- Balanced brightness reading circuit (188)
- List of elements (188)
- Pair sensors (189)
- Selecting photoresistors (189)
- Resistance balance potentiometer (190)
- Current limiting resistor (190)
- Test points (191)
- Resistance to voltage conversion using a voltage divider (193)
- We build a balanced brightness reading system (193)
- Inability to balance the brightness reading circuit (194)
Chapter 15 Comparators (195)
- Voltage Comparator (195)
- LM393 analysis (196)
- Purchase of comparators (199)
- Brightness comparison circuit with comparator (199)
- Comparison of wiring diagram with wiring diagram (199)
- Element designations (200)
- Drawing connected and unconnected cables (200)
- Operating principle of the brightness comparison circuit with the comparator (201)
- List of elements of the brightness comparison circuit with comparator (201)
- Construction of a brightness comparison circuit based on a comparator (201)
- Add the headlights (204)
- Operation of a headlamp circuit with two LEDs (205)
- Headlamp circuit design (206)
- Repeat the trick with the combination of several diodes (206)
- We appreciate the simplicity (207)
Chapter 16 Transistor switches (209)
- What is a "plus" and "minus" power supply (210)
- We meet transistor 2907A (210)
- Bipolar transistor test (212)
- Test with a meter equipped with a transistor measurement socket (212)
- Testing a transistor when you do not have a catalogue note (214)
- Transistor test with a meter equipped with a diode test mode only (215)
- Measurement circuits for bipolar transistors (216)
- Circuit diagram for testing PNP transistors (216)
- Construction of a circuit for testing PNP transistors (218)
- Circuit diagram for testing NPN transistors (219)
- Construction of a circuit for testing NPN transistors (220)
- Brightness comparison circuit with transistors (220)
- Calculation of limiting resistor values (220)
- Construction of the brightness comparison circuit with comparators and transistors (222)
- Summary information on PNP and NPN transistors (223)
Chapter 17 DC motors (225)
- Operating principle of the DC motor (225)
- View of DC commutator motor with permanent magnets and iron core (226)
- Look inside the brushless motor (229)
- Construction of a commutator motor with permanent magnet but without core (231)
- Simple circuit with DC motor (232)
- Engine selection (232)
- Battery selection (233)
- Construction of a simple circuit with a DC motor (233)
- Basic parameters of DC motors (234)
- DC motor speed (234)
- Engine torque (237)
- Voltage characteristics of the DC motor (240)
- Current characteristics of the DC motor (241)
- Analysis of current consumption by motors (244)
- DC motor efficiency (245)
- Engine volume (245)
- Electrical interference (noise) from the DC motor (245)
- Weight of electric motors (246)
- Engine dimensions (246)
- Summary of DC motor characteristics (247)
- Geared motors (247)
- Geared motor construction (248)
- Gear ratio (250)
- Imperfection in converting speed to torque (252)
- Disadvantages of the gearbox (252)
- Comparison of planetary and gearboxes (252)
- Gear motor selection (253)
- What's next? (254)
Chapter 18 Add gear motors (255)
- Geared motor selection (255)
- Purchase of motors with gearbox (256)
- We are testing a motor with a gearbox (257)
- We add motors to our brightness comparison circuit with a comparator (259)
- We recognize the diode (260)
- Connecting motors to the brightness comparison circuit (261)
- We finished the electronic part (263)
Chapter 19 Wheels (265)
- Wheel structure (265)
- Features of robot wheels (266)
- Air filling (266)
- Tyre shapes (267)
- Tyre width (268)
- Tyre diameter (269)
- Select the wheels for the robot (271)
- Choice of wheels for "Sandwiches" (272)
- Determination of minimum and maximum wheel diameter (273)
- Determination of maximum diameter depending on speed (273)
- My choice of wheels for the sandwich robot (274)
- Selection of other wheels for "Sandwiches" (275)
- Tyre cleaning (278)
- On wheels forward (279)
Chapter 20 Fittings (281)
- Other solutions (281)
- Manual execution of connectors (282)
- Tubes (282)
- Tube material selection (282)
- Purchase of suitable tube sizes (283)
- Tube measurement and cutting (285)
- Determination and determination of tube length (285)
- Tube cutting (285)
- Grinding of the cut edge (288)
- Testing of cut-off pieces (288)
- LEGO mallard axles (289)
- Choice of axles of appropriate length (289)
- Purchase of LEGO cross-axis (289)
- Gluing of fastener parts (290)
- Installation of the pressure screw (292)
- Determination of the place to drill a hole for a clamping screw (292)
- Drill stand (292)
- Drilling a hole for a pressure screw (294)
- Hole threading (294)
- Inserting the pressure screw (295)
- A great connector (296)
Chapter 21 Soldering equipment (297)
- Soldering wire (298)
- Flux (299)
- Soldering iron (299)
- Soldering iron holder (301)
- Sponge (301)
- Auxiliary handle (302)
- Tin extractors (303)
- Step by step soldering (304)
- Ready to run: Soldering (304)
Chapter 22 Soldering and bonding (305)
- Installation of motors and switches (305)
- Installation of motors (306)
- Mounting the Line Tracking Mode Switch (317)
- Circuit for "engine compartment" diode lighting (322)
- Termination (323)
- Soldering (324)
Chapter 23 Final assembly of components on the board (325)
- Line tracking system (325)
- Optimizing robot performance (327)
- Spot and PCB soldering (328)
- Point soldering of the line tracing system (330)
- Robot system testing (337)
- Note the low resistance (337)
- Unsolderable leads (337)
- Check all the outputs connected directly to a positive voltage source (337)
- Measurement of resistance of the whole circuit (338)
- Voltage drop measurement (339)
- Heating of solder joints (340)
- Hold your breath (340)
Chapter 24 The body, or casing (341)
- Housing selection (341)
- Swinging in the clouds, inventing the perfect housing (341)
- Bringing to earth, i.e. looking for accessible parts (341)
- Designing your own housing (342)
- Use of finished products (344)
- Sandwich box housing (345)
- Cutting out holes for motors (345)
- Installation of motors (348)
- Installation of the motor support tube (350)
- Installation of motors and tubing (354)
- Installation of switches and battery holder (354)
- Installation of the circuit board (356)
- Drilling holes for potentiometers (360)
- Cutting out the window in the lid of the container (360)
- Final steps (361)
- Compact and ready (361)
Chapter 25: Starting the robot (363)
- Amendments and trimming (363)
- Visual inspection (363)
- Test run - straight line run (367)
- Typical problem solving (367)
- Is he going straight? (371)
- The virgin journey (373)
- Troubleshooting control problems (373)
- Opportunities for improvement (374)
- Protection against incorrect battery connection (374)
- Preventing overvoltages using capacitors (375)
- Improving the line follower (376)
- Summary (378)
Chapter 26 Further development (379)
- Robot parts (379)
- Logic systems (379)
- Microcontrollers (380)
- Voltage regulators (381)
- Capacitors (383)
- Use of solar energy (384)
- Resistor ladders (385)
- Buttons (386)
- DIP switches (386)
- Jumpers (387)
- Tilt sensor (388)
- Temperature sensors (388)
- Touch sensors (389)
- Object detection and infrared remote control (389)
- Distance and object sensor (390)
- Quartz oscillators and resonators (391)
- Sound (391)
- Relays (392)
- Gears (393)
- Servomechanisms (394)
- Encoders, i.e. measuring the speed of the wheels (394)
- Displays (395)
- Wireless control and data transmission (396)
- Daily challenges (396)
- Flower watering robot (397)
- Compost trolley (397)
- Robot garbage trucker (397)
- Window cleaning robot (397)
- Roof janitor (397)
- Miniature snow plough (398)
- Slug conqueror (398)
- Robot postman (398)
- Occupations (398)
- Robocomp (398)
- Cybairbot (399)
- Robotic Arena (399)
- PozRobot (399)
- A world of possibilities (399)
Chapter 27 Appendix (401)
- Ohm's magic law (401)
- Ohm's law helps to choose limiting resistors (402)
- Assistance in determining the current strength based on voltage (402)
- Key to the law Ohm (403)
- Further effects of Ohm's law (403)
- Things that I inadvertently spoiled while working on this book (403)
- Which way did I connect the 9-volt battery? (404)
- Melted switches (405)
- Shooting fuses in the meter (406)
- Dear me, again! (406)
- Proper voltage naming (407)
- Weight instead of "minus" power (407)
- V with double letters (407)
Scorch (409)
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