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VCRs are perhaps the best single source for parts, and they are in plentiful supply (hundreds of millions of them have been built since the mid-1970s). As previously discussed, you ll find motors (and driver circuits), switches, LEDs, cable harnesses, and IR receiver modules on many models. CD players have optical systems you can gut out if your robot uses a specialty vision system. Apart from the laser diode, CD players have focusing lenses, miniature multicell photodiode arrays, diffraction gratings, and beam splitters, as well as micro-miniature motors and a precision lead-screw positioning device (used by the laser system to read the surface of the CD). Old disk drives (floppy and hard drives) also have a number of components that are very useful in robots. Along with the motor that turns the disk, the stepper motor that moves the head is well suited for use in robot arms or even small walking robots. Later in the book, opto-interrupters will be discussed and the typical disk drive has at least two of these that could be used in a robot. Fax machines contain numerous motors, gears, miniature leaf switches, and other mechanical parts. These machines also contain an imaging array (it reads the page to fax it) that you might be able to adapt for use as robotic sensors.

There are many di erent ways to connect wires together, so feel free to experiment to get the best connection for your projects Holding the wire in a third hand, or placing it on a heatproof surface, you want to touch the end of your soldering iron to the junction of the two wires You need to heat both wires to the solder s melting temperature to get a good joint I prefer to have my soldering iron heavily tinned, so there is actually a tiny drop of solder on the tip This gives a better path for the heat to ow from the iron to the wire than a bare tip Once the wires are hot, touch the solder to.

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To learn more about . . . Using a computer within your robot Connecting sensors to a robot computer or microcontroller Using touch to guide your robot Getting your robot from point A to point B Read 12, An Overview of Robot Brains 14, Computer Peripherals 29, The Sense of Touch 33, Navigation

The transmission in the motor scooter in Figure 2-3 is torque-sensitive; motor speed controls the continuously variable drive ratio. The operator merely works the throttle and brake. Variable-diameter V-belt pulleys connect the motor and chain drive sprocket to give a wide range of speed reduction. The front pulley incorporates a three-ball centrifugal clutch which forces the flanges together when the engine speeds up. At idle speed the belt rides on a ballbearing between the retracted flanges of the pulley. During starting and warmup, a lockout prevents the forward clutch from operating. Upon initial engagement, the overall drive ratio is approximately 18:1. As engine speed increases, the belt rides higher up on the forward-pulley flanges until the overall drive ratio becomes approximately 6:1. The resulting variations in belt tension are absorbed by the spring-loaded flanges of the rear pulley. When a clutch is in an idle position, the V-belt is forced to the outer edge of the rear pulley by a spring force. When the clutch engages, the floating half of the front pulley moves inward, increasing its effective diameter and pulling the belt down between the flanges of the rear pulley. The transmission is torque-responsive. A sudden engine acceleration increases the effective diameter of the rear pulley, lowering the drive ratio. It works this way: An increase in belt tension rotates the floating flange ahead in relation to the driving flange. The belt now slips slightly on its driver. At this time nylon rollers on the floating flange engage cams on the driving flange, pulling the flanges together and increasing the effective diameter of the pulley.

he projects and discussion in this chapter focus on navigating your robot through space not the outerspace kind, but the space between two chairs in your living room, between your bedroom and the hall bathroom, or outside your home by the pool. Robots suddenly become useful once they can master their surroundings, and being able to wend their way through their surrounds is the first step toward that mastery. The techniques used to provide such navigation are varied: path-track systems, infrared beacons, ultrasonic rangers, compass bearings, dead reckoning, and more.

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