Budowa robotów dla średnio zaawansowanych. II edition - David Cook

The contents

About the author (11)

About to adjust their sound value (13)

Thanks (15)

Introduction (17)

• Who is this book for? (17)
  
  • Prerequisites (17)
  • Would it not be better for You to LEGO MINDSTORMS? (19)
  • If will not be best for You, robots, BEAM? (19)
  • There is no diagram of a remotely controlled killer robots (19)
• Offers parts (19)
• Safety rules (20)
• Preference to the metric system (20)
• Updates and news (20)

Chapter 1. To build a modular robot (21)

• The building modules (21)
  
  • To build a Carousel or not? (22)
  • Organization of chapters (22)
• Familiarization with machining (23)
  
  • The garage equipment (23)
  • Miniature milling machine (24)
• Putting it all together (27)
  
  • Grouping of mechanical parts (27)
  • Grouping of separate electronic modules (28)
  • Installation and testing of the robot (28)
• Use the details and techniques in other works (28)

Chapter 2. Comparison of two types of self-fulfilled connectors of the engine, and also common errors (31)

• A comparison of two technologies for the production of fasteners (32)
  
  • An overview of telescopic fasteners (32)
  • Compare telescopic fasteners with elements of stem (33)
• The expected results of the drilling of the holes in the connector line, as well as common mistakes and their consequences (33)
  
  • The connection hole for screw installation screw hole on the motor shaft (34)
  • The alignment of angles and measures of the holes (35)
• Ready for implementation of the fastener of the rod? (38)

Chapter 3. Execution of the holder or drilling holes in the studs for the fastener (39)

• Equipment tools and parts (39)
• Preparation of pieces of terminals on the relay (40)
  
  • Measurement of the motor shaft and the axis (40)
  • The choice of the rod to the channel (40)
  • Trim the stems to the desired length (42)
  • The alignment of the ends of the connecting parts (43)
  • Defer stub rods (45)
• Performing mount bracket (45)
  
  • Cutting unit bracket mount (46)
  • Drilling the holes for the bolt installation bolts (47)
  • Cutting the hole for the bolt installation bolts (48)
  • Drilling holes on the rod of the bracket into the holder (49)
• The use of the holder (54)
  
  • The increase in narrow holes (54)
  • Adding a screw in the holder bracket (54)
  • Changing the position of the holder bracket (55)
• Drilling holes in the connecting line of the holes on the motor shaft and LEGO axle (55)
  
  • Change the drill, not the rods (57)
  • Finishing work - mixing tips (58)
• Check progress in the implementation of the bracket (58)

Chapter 4. We finish implementation of the engine bracket from a bar (59)

• Mounting screw bracket (59)
  
  • Determining the position of the screw bracket (59)
  • Drilling holes in the connecting line of the holes to screw the mounting bolts (60)
  • Cutting the hole for the bolt mounting bracket bolts (61)
  • The choice of screw (62)
• Add axis LEGO (63)
• The result (65)

Chapter 5. Mounting the engine inside the wheel (67)

• Attention! Danger! The curved shaft on the horizon (68)
  
  • The right drive with prop (68)
• The implementation of the hub bracket (69)
  
  • Setting the outer diameter of the motor shaft and the inner diameter of the wheel LEGO (69)
  • Begin from the stem of bracket (71)
  • Performing internal and external hard disks, adapter hub (72)
  • Training hubs LEGO (82)
  • Fitting and bonding parts (85)
• Summary (87)

Chapter 6. The standards used in electronics and preparation for experiments (89)

• Reading schemes (89)
  
  • Connecting the wires (90)
  • Selection of parts (90)
  • The definition of the elements (92)
  • Determination of the power source (96)
• The use of the plate contact (97)
  
  • Select the contact plate (98)
  • Install the contact plate (98)
• Oscylogramy (102)
• The use of modern electronics (103)
  
  • To cross the barriers experience curve (103)
  • Avoiding obsolete technology (103)
  • The use of surface-mount components (103)
• Total (106)

Chapter 7. The design of the power supply with a linear voltage regulator (107)

• Voltage stabilizers (107)
• Power supplies with linear voltage regulator (108)
  
  • Voltage regulator 7805 (108)
  • Improving the quality of supply by reducing the minimum required voltage niestabilizowanego (113)
  • Other important features of linear voltage regulators (122)
  • Changes in the market limit the choice of linear voltage regulators 5 V (126)
• Course on optimization (126)

Chapter 8. The improvement in the nutritional status of the robot (129)

• The use of input and output buffer capacitors (130)
  
  • Increase the duration of battery life using the buffer capacitors (131)
  • Slow shutdown due to the use of buffer capacitors (131)
  • Use the DPDT switch to reduce off time (132)
  • Selection of the buffer capacitors (133)
  • The increase in the security margin for capacitors tantalowych (134)
• Kondensatorowe spells (134)
• The use of capacitors that block (135)
  
  • Reduction long way to a power source (136)
  • Insulation noise on any source (137)
  • The selection of capacitors that block/odsprzęgających (137)
• Protection from damage caused by short circuit and overvoltage (137)
  
  • The decision whether the overcurrent protection (137)
  • The security guard topikowego (138)
  • Protection with automatic circuit breaker (138)
  • Protect robots from short circuit and overloads by using a semiconductor, samoresetujących themselves fuse the polymer (139)
• Preventing damage due to overvoltage in stable circuit (142)
  
  • Led Zener Diode (142)
  • The use of Zener diodes to short-circuit the power supply in case of overvoltage (143)
  • The choice of a suitable breakdown voltage (145)
  • Buy Zener diodes (145)
• Complete reliable power source (145)

Chapter 9. Engine management (147)

• Why do we need a motor driver? (147)
  
  • Shipping to motors high voltage than to provide a logical layout (148)
  • Providing more current than it can provide system logic (148)
  • Logical errors caused by noise generated by the motor (148)
  • The power of the engine of the chain niestabilizowanego against stable (149)
• Four modes of operation of the engine (149)
  
  • Rotation in accordance with the direction of movement of hour hands (150)
  • Opposite counterclockwise rotation (151)
  • Revs freely (slow speed decrease) (151)
  • Braking (abrupt speed reduction) (151)
• Simple operation with a single transistor (152)
  
  • Diagram of the motor driver with one NPN transistor bipolarnym (153)
  • The construction of the control circuit of the engine with one bipolarnym NPN transistor (156)
  • Diagram of the motor driver with one transistor bipolarnym PNP (157)
  • The construction of the control circuit of the motor with a single PNP transistor bipolarnym (158)
• Connect the NPN and PNP driver (159)
  
  • The construction of the control circuit of motor wiring NPN and PNP (159)
  • Avoiding short-circuit (160)
• Classic bipolar H bridge (161)
  
  • Rotation in accordance with the direction of movement clockwise, with the use of the bridge H (162)
  • Opposite counterclockwise rotation with the use of the bridge H (162)
  • Slowing down using auxiliary electronic bridge H (162)
  • Inhibition of high voltage (164)
  • Revs freely through the bridge H (165)
  • Other combinations of the sternum H (165)
  • Building a classic bipolar H bridge (166)
• Site management with high voltage (167)
  
  • Avoiding conversion levels due to failure of the power supply stabilization of logic circuits (167)
  • The failure of the interface due to the power from the H bridge voltage regulated (168)
  • The interface using PNP NPN (168)
  • Use a unified interface (171)
• Control engine (173)

Chapter 10. Motor control - a second round (175)

• The motor control using MOSFET (175)
  
  • Diagram of the motor driver with a single transistor power MOSFET n channel (176)
  • Supply default voltage using a resistor (178)
  • The feeding circuit of the engine control with a single power MOSFET transistor with channel n on a resistor to lower (182)
  • The construction of the control circuit of the engine with one power MOSFET transistor with channel n, and the resistor reduces (183)
  • Diagram of the motor driver with one transistor-power MOS transistor with channel p (184)
  • The construction of the control circuit of the motor with a single transistor-power MOS transistor with channel p (184)
  • The H bridge of power transistors MOSFET (185)
  • Selection of power transistors, MOSFET (191)
• Control of the motors using integrated circuits (195)
  
  • Dreams of the ideal (195)
  • Application system family 4427 as a standalone engine control unit (196)
  • The use of classic bipolar H bridge in the chip (199)
  • MC33887 - advanced motor driver with H bridge MOSFET (201)
• Assessment of the drivers of the motors (207)
  
  • Assessment of efficiency of DC motor driver (208)
  • Evaluation of the effectiveness of the drivers of the motors (210)
• Total (212)

Chapter 11. The creation of a regulatory infra-red detector of obstacles, enemies, and walls (213)

• Detection modulowanej wave podczerwonej using the popular module, or some other reason the purchase of the remote control (214)
  
  • System Panasonic PNA4602M (214)
  • Plug-in system Panasonic PNA4602M (215)
  • Testing the Panasonic PNA4602M (215)
• The extension chain protection on indicator (217)
  
  • Add layout 74AC14 inverter to control the led (218)
  • An overview diagram of the indicator (218)
• We're closing detection system of the reflected wave (221)
  
  • An overview of the full schema of detector failures (221)
  • The construction of a detector failure on the circuit Board contact (222)
• Commissioning (228)

Chapter 12. Configure the detector failure (229)

• Setting of 38 kHz (229)
  
  • The choice of mid-range between the beginning and the end of the reaction to the reflected wave (230)
  • Using the multimeter mode frequency (233)
  • The use of the oscilloscope (233)
  • The reasons for the use of the inverter inputs schmitta located (234)
  • Diagnosing problems in circuits processed (234)
• Limitation of detector failures (236)
  
  • The absence of the action outdoors or in bright light (236)
  • The inability to detect certain types of objects (237)
  • The inability to detect distant or very close objects (237)
  • The inability to measure the distance (240)
• You are ready to create the robot (240)

Chapter 13. Robot Rondo (241)

• Robot Rondo (242)
• Look at the robot Rondo of the parties (242)
• Rondo at the top and bottom (243)
• Electronic circuits robot "Rondo" (243)
• The execution of the robot body "Rondo" (248)
• Problems with the availability of engines with gearboxes (248)
• Desirable characteristics of a robot (250)
• The design of the robot body (250)
• The construction of the Central platform for robot Rondo (255)
• The mechanism of the engines of the robot Rondo (256)
• Selection of stars LEGO (259)
• The achievement of the physical limitations of moving parts LEGO (262)
• The execution of the handles on the motors of the robot, Rondo (262)
• Summary the construction work, "Rondo" (272)

Chapter 14. Test drive robot "Rondo" (273)

• Preparation for test drive (273)
  
  • Configuration of all elements, adjustable in the middle or safe position (273)
  • Testing modules one by one (274)
  • Measurement of impedance of the circuit (274)
  • The location of manufacturing jobs (276)
  • Check voltage and polarity of the battery (276)
  • Control input current at moment of switching circuits (277)
• Preparing the robot and correcting minor mistakes (278)
  
  • Configure failure detector operating in the infrared (278)
  • Switches from the LEDs (278)
  • Check sensors (278)
  • The connection of the motor (279)
• Performance evaluation of the robot "Rondo" (279)
  
  • Problems encountered during the test-drive (279)
  • Testing of all maneuvers the robot (282)
  • Tasks for the robot "Rondo" (283)
• I'm stuck (285)
  
  • The walk of a drunkard (285)
  • Walking robot "Rondo" (286)
  • Reducing ambiguity detection (287)

Chapter 15. I would like to have a brain (293)

• Sample Atmel ATtiny84 (293)
• To compare the microcontroller with the system logically (294)
  
  • The choice of logic instead of a microcontroller (294)
  • The choice of microcontroller instead of logic (295)
• Microcontroller programming (296)
  
  • Conservation programs (296)
  • Define program size (296)
  • Writing programs (297)
  • Work without use .NET (297)
  • Compiling and loading a program (298)
  • Debug programs (298)
• An overview of the General features of microcontrollers (302)
  
  • Case of microcontrollers (303)
  • The pins of the microcontroller (303)
  • The memory of the microcontroller (309)
  • The size of the user of the microcontroller (311)
  • The complexity of instructions of the microcontroller (311)
  • The speed of the microcontroller (312)
  • Special timers control (315)
  • The module that controls for low voltage (315)
• The choice of microcontroller (316)
  
  • I don't have enough... (316)
  • Recommendation 8-bit Atmel AVR (317)
  • Recommendation set the Parallax Basic Stamp (317)
  • Just ask (318)
• Upgrading robot (318)

Chapter 16. The construction of the card extension for the robot "Rondo" (319)

• Conversion configuration dwupiętrową (319)
  
  • Connection connector DIP (321)
  • Problems with access to the motherboard (328)
  • Shielding of detectors reflection infrared (330)
• Capture signals - meet the new boss (331)
  
  • Preservation of useful functions (331)
  • Redirection of signals detection IR (331)
  • Detection and interruption the stop state (332)
  • The forwarding engines and bipolar elements (332)
  • To provide (almost) complete control (332)
• Extension of range of functions (333)
  
  • An overview of the findings of the microcontroller (333)
  • Power microcontroller (333)
  • Detection of walls and obstacles (334)
  • Managing motors and LEDs dwukolorowymi (334)
  • Management dwukolorowymi LEDs (334)
  • Reading the button state (335)
  • Sharing options via DIP switch (337)
  • Making music (338)
  • The rest of the findings available for expansion (339)
• Improving the quality of the robot (340)

Chapter 17. We add the module's sensor floor (341)

• The definition of brightness by using fotorezystora (341)
  
  • Converting the variable resistance into a variable voltage using a voltage divider (342)
  • Fotorezystora response is nonlinear (345)
  • The definition of the spread between the fotorezystorami (347)
  • The speed of the rising and falling of the resistance (348)
  • Repeated use of resistant circuit read-brightness (348)
• The definition of brightness by using photodiodes (348)
  
  • Detection of the reflection from the floor (349)
  • Construction of detection system reflections from the floor (350)
• The following line (355)
  
  • Auto-sensing brightness of the line (355)
  • Reads the value of the floor sensor (356)
  • Inverting the value of the sensor (356)
  • Follow the dark lines (356)
  • Centering dark lines (357)
  • Improving the quality of the algorithm follow the line (357)
• Robot competition-sumo (357)
  
  • Adaptation of the robot's "Rondo" for the competition "sumo" (358)
  • Change strategies using DIP switches (359)
• Growing opportunities (359)

Chapter 18. We are preparing a stew of the robot (361)

• Music creation (361)
  
  • Circuit sound (362)
  • Building the circuit sound (362)
  • Adjustment of sound strength (362)
  • The speaker control (363)
  • Sample sound (364)
  • Playback notes (365)
  • Music playback (365)
• Scaling up (367)
  
  • Creating a dual-platform (367)
  • Improved movement of the robot (367)
  • Providing spacing between the platforms with a home-made sleeve (368)
  • Cracks on wheels (369)
  • Relying on both ends of the axle (369)
• Installation of the motors (370)
  
  • Mounting using gon (370)
  • Space-saving due to the use of the reducer, perpendicular (373)
  • Adaptation of the motor shaft of small diameter and built-in holder compatible with LEGO standards (374)
• The study of water (378)
  
  • The choice of wheels for a smoother ride (378)
  • Obstacle detection (379)
• Instant entrance in the shoes of a robot (382)
  
  • Adding to the robot wireless camera video (383)
  • Study areas with wireless video (384)
  • Look at yourself in the short video (384)
• Thank you (384)

Addition. Sources in the Internet (385)