robot building manual full with electronic ad stepper motor tekniks doc

The 6.270 Robot Builder’s Guide Project Conceived and Developed by: Fred Martin, Pankaj Oberoi, and Randy Sargent This Document Created by: Fred Martin for the 1992 M.I.T. LEGO Robot Design Competition [...]... lot of information that should be valuable in your robotbuilding endeavor Here's a brief synopsis of the organization of these course notes: Chapter 1 is the assembly manual for nearly all of the components used to construct a 6.270 robot| including the printed circuit boards, electronic sensors, motors, and battery packs Chapter 2 introduces robot motor technology Chapter 3 discusses battery technology... Memory with Latch B.3 6.270 System Block Diagram B.4 Enabling the Memory B.5 The 'HC138 Address Decoder B.6 Wiring the 'HC138 Address Decoder B.7 6811 System Memory Map B.8 Digital Input Circuit B.9 6811, Memory, Address Decoding and Miscellaneous Circuitry B.10 The H-Bridge Circuit B.11 The H-Bridge with Left-to-Right Current Flow B.12 The H-Bridge with Enable Circuitry B.13 The SGS-Thomson L293 Motor. .. marked with a plus symbol (+) and a minus symbol (;) The capacitors themselves are sometimes are obviously marked and sometimes are not One or both of the positive or negative leads may be marked, using (+) and (;) symbols In this case, install the lead marked (+) in the hole marked (+) Some capacitors may not be marked with (+) and (;) symbols In this case, one lead will be marked with a dot or with. .. it is still molten Adding additional solder to a troublesome joint can be helpful in removing the last traces of solder This works because the additional solder helps the heat to ow fully into the joint The additional solder should be applied and de-soldered as quickly as possible Don't wait for the solder to cool o before attempting to suck it away The desoldering pump tip is made of Te on While te... : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : 2 Motors 2.1 DC Motors 2.1.1 Ratings and Speci cations 2.1.2 Measuring Motor Torque 2.1.3 Speed, Torque, and Gear Reduction 2.1.4 Pulse Width Modulation 2.2 Stepper Motors 2.3 Servo Motors 2.3.1 Control 2.3.2 Application 59 : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : :... System Memory Map B.2.4 Digital Inputs B.2.5 Digital Outputs B.2.6 6811 and Memory Schematic The Motor Drivers B.3.1 The H-Bridge Circuit B.3.2 The H-Bridge with Enable Circuitry B.3.3 The SGS-Thomson Motor Driver Chip B.3.4 Power Considerations B.3.5 Expansion Board Motor and LED Circuitry Analog Inputs B.4.1 Motor Current Monitoring Circuit B.4.2 Analog Input Multiplexing on the Expansion Board The Serial... Sensor Assemblies Motor Assemblies VAX2000 Cable 1.1 Electronic Assembly Technique If there are places in life where \neatness counts," electronic assembly is one of them A neatly-built and carefully soldered board will perform well for years a sloppily- and hastily-assembled board will cause on-going problems and failures on inopportune occasions This section will cover the basics of electronic assembly:... such that it touches both the lead being soldered and the surface of the PC board Then, solder is applied into the joint, not to the iron directly This way, the solder is melted by the joint, and both metal surfaces of the joint (the lead and the PC pad) are heated to the necessary temperature to bond chemically with the solder Figure 1.2 shows the typical result of a bad solder joint This gure shows... happens if the solder is \painted" onto the joint after being applied to the iron directly The solder has \balled up," refusing to bond with the pad (which did not receive enough heat from the iron) With this technique in mind, please read the following list of pointers about electronic assembly All of these items are important and will help develop good skills in assembly: 1 Keep the soldering iron tips... Identifying LED Leads Top View of 14-pin DIP Top View of 52-pin PLCC Summary of Polarization E ects Flat Component Mounting Upright Component Mounting Resistor Color Code Table 6.270 Microprocessor Board Component Placement 6.270 Microprocessor Board Header Placement Motor Chip Stacking Technique Expansion Board Component Placement Expansion Board Female Header Mounting Mounting Method for Male Header Pins . The 6.270 Robot Builder’s Guide Project Conceived and Developed by: Fred Martin, Pankaj Oberoi, and Randy Sargent This Document Created by: Fred Martin for the 1992 M.I.T. LEGO Robot Design