amphibionics build your own biologically inspired reptilian robot - part 1 doc

[...]... Controller and Infrared Sensor Board 13 7 13 8 14 4 14 6 14 8 15 2 15 4 15 5 xi Amphibionics Wiring the Robot 15 8 Programming and Experiments with Serpentronic 16 4 Motion Control 17 1 Infrared Sensor Summary 6 17 7 18 8 Crocobot: Build Your Own Robotic Crocodile 19 1 Crocodilians 19 1 Overview of the Crocobot Project 19 3 Mechanical Construction of Crocobot 19 4 Constructing the Chassis 19 9 Constructing the Body Covers... aluminum stock 12 Chapter 1 / Tools, Test Equipment, and Materials FIGURE 1. 17 Aluminum stock with 1/ 4-inch by 1/ 4-inch dimensions The second type of aluminum stock that will be used measures 1/ 4-inch ϫ 1/ 4-inch, and is shown in Figure 1. 17 It is usually bought in lengths of 4 feet or longer as well The third kind of aluminum stock is 1/ 2-inch ϫ 1/ 2-inch angle aluminum, and is 1/ 16-inch thick, as shown in... 1/ 16-inch thick, as shown in Figure 1. 18 The fourth type is 1/ 16-inch thick flat aluminum, as shown in Figure 1. 19, and it is usually bought in larger sheets However, most metal suppliers will cut it down for you This thickness of aluminum is great for cutting out custom parts and it is easy to FIGURE 1. 18 1/ 2-inch angle aluminum 13 Amphibionics FIGURE 1. 19 1/ 16-inch thick flat aluminum bend, making... Materials The robots in this book are constructed using aluminum and fasteners that are readily available at most hardware stores Five sizes of aluminum will be used The first stock measures 1/ 2-inch wide by 1/ 8-inch thick, and is usually bought in lengths of 4 feet or longer Many of the robot parts are constructed from aluminum, with the dimensions as shown in Figure 1. 16 FIGURE 1. 16 1/ 2-inch by 1/ 8-inch... make up each robots’ body and legs You will need a hot glue gun (Q) and glue sticks at certain points in the construction See Figure 1. 12 7 Amphibionics FIGURE 1. 10 Adjustable work stand and utility knife FIGURE 1. 11 Soldering iron with adjustable temperature 8 Chapter 1 / Tools, Test Equipment, and Materials FIGURE 1. 12 Adjustable square, ruler, and glue gun A hammer (R), shown in Figure 1. 13, will be... of stock that will be needed is 3/4-inch ϫ 3/4-inch angle aluminum The fasteners that will be used are 6/32-inch diameter machine screws, nuts, lock washers, locking nuts, and nylon washers, as shown in Figure 1. 20 Three different lengths of machine screws will be used: 1- inch, 3/4-inch, and 1/ 2-inch 14 Chapter 1 / Tools, Test Equipment, and Materials FIGURE 1. 20 6/32-inch diameter machine screw, lock... Constructing the Legs 211 Assembling the Legs 213 The Controller Circuit Board 216 L298 Dual Full-Bridge Driver 218 Creating the Main Controller Printed Circuit Board 222 Putting It All Together 226 Constructing the Remote Control Transmitter 228 PIC 16 C 71 xii 232 Contents Creating the Remote Control Printed Circuit Board Programming Crocobot 7 Turtletron: Build Your Own Robotic Turtle 234 239 2 71 Turtles and... the Robot s Body Fabricating the Servo Mounts 84 Constructing the Front Legs 90 Leg Position Sensors 91 Wiring the Limit Switches x 82 91 Contents Frogbotic’s Main Controller Board Creating Frogbotic’s Printed Circuit Board Fabricating the Power Connector 94 96 98 Putting It All Together Programming and Experiments with Frogbotic 5 10 0 10 3 Serpentronic: Build Your Own Robotic Snake 11 7 Snakes 11 7 Overview... helpful when cutting heat-shrink tubing or small parts A soldering iron, similar to the one shown in Figure 1. 11, will be required when building the main controller circuit boards and the sensor boards for each robot An expensive soldering iron is not necessary, but the advantage to buying a good one is that the temperature can be set A 1 5- to 25-watt pencil-style soldering iron will work and will help... pictured in Figure 1. 7 The 5/32-inch and 1/ 4-inch drill bits are used most often during the projects You will need to separately buy the small 1/ 32-inch and 3/64-inch bits that will be used to drill the component holes in the printed circuit boards FIGURE 1. 7 Drill bit set 5 Amphibionics FIGURE 1. 8 Various pliers, a wrench, and screwdrivers You will need an adjustable wrench (marked E in Figure 1. 8), side . Serpentronic: Build Your Own Robotic Snake 11 7 6 Crocobot: Build Your Own Robotic Crocodile 19 1 7 Turtletron: Build Your Own Robotic Turtle 2 71 Summary of Contents Amphibionics 00 3/24/03 12 :49 PM Page. Control 17 1 Infrared Sensor 17 7 Summary 18 8 6 Crocobot: Build Your Own Robotic Crocodile 19 1 Crocodilians 19 1 Overview of the Crocobot Project 19 3 Mechanical Construction of Crocobot 19 4 Constructing. 98 Putting It All Together 10 0 Programming and Experiments with Frogbotic 10 3 5 Serpentronic: Build Your Own Robotic Snake 11 7 Snakes 11 7 Overview of the Serpentronic Project 11 9 Mechanical Construction