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Erector set, 131 134 collector s items vs. usability for robots, 132 for grippers, 486 manufacturers, 132, 138 wheel assembly, 132 133 event planning, 689 694 announcements to media and public, 693 694 competitions, 691 693 venue, 689 691 eyesight. See sensors, light; vision. failures, 679 687 electrical, 680 mechanical, 680 methods for fixing, 681 687 programming, 683 far-object detection, 520 521 Fastech toy construction kit, for Minibot, 107 fasteners adhesives or glues, 33 cable ties, 34 for hacked toys, 143, 145 hose clamps, 34 interlocking parts, 34 for Minibot, 108 nuts and bolts, types, 32 rivets, 33 rod, all-thread, 32 33 steel cables, 34 turnbuckles, 34 washers, 32 welding, 33 for wooden platforms, 119 fax machines, parts, 35 fiber optics cutting, 551 fiber types, 550 551 theory and background, 549 550 finish, paint, 36 37 fire detection systems, 629 640 fire extinguisher, 638 640 firefighting, 638 640 competition, 692 Fischertechnik kits, 135 136 engineering uses, 136 mechanical theory and design, 135 136 flame detection, 629 631, 670 671 FOR/NEXT, 228, 364 frame, robot, 12 13, 306 309 Frankenstein, Dr., 3 freqout, 530 fumes, detection of, 635 636 furniture, protecting from robot, 654 655 Futaba, servo motor, 397, 400 gamepad. See remote control, gamepad. garage sales, 35 gearboxes, 336 Tamiya, 138 gear reduction, 333 338 in grippers, 497 input and output shafts, 335 motors with, 335 337 pitfalls to DIY, 337 with R/C servo motors, 335 right-angle drives, 335 with stepper motors, 335

iven the definition of robot in the introduction to this book, the most vital mechanical part of a robot must be its mobility system, including the suspension and drivetrain, and/or legs and feet The ability of the these systems to effectively traverse what ever terrain is required is paramount to the success of the robot, but to my knowledge, there has never been an apples to apples comparison of mobility systems First, just what is a mobility system A mobility system is all parts of a vehicle, a land-based robot for the purposes of this book, that aid in locomoting from one place to another.

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gears Capsula, 135 from fax machines, 35 grinding, 397 pitch, 338 pressure angle, 338 purpose, 333 ratio, 331 setscrew, 342 speeds, 334 sprockets, attaching to, 342 surplus stores, 44 tooth geometries, 338 types: bevel, 337; helical, 338; miter, 337; rack, 338; spur, 337 338, 492, 496; worm, 337 338, 490 491, 497 gear train, 398 General Electric, robotic arm, 19 glue, LEGOs, 135 Goodwill, 35 GOSUB, 247 250, 260 261 GOTO, 230 grippers, 5, 20, 471 472, 483 497 clapper, 483 486; parts list, 484 degrees of freedom, 496 end effectors, 483 Erector set, 486 gear reduction, 497 spur gear, 492, 496 two-pincher, 484, 486 494 worm gear, 490 491, 497 wrist rotation, 496 497 grippers, advanced actuation, 492 494 Radio Shack, Tony Armatron, 494 two-pincher, 487 494 grippers, flexible finger, 494 496 compliant grip, 494 ground earth, 60 symbol for, 60 ground loops, 92 hacking toys. See toys, hacking. HAL-9000, 21 Hall effect, 608, 612 613, 615 Halon, 638 640 hands and arms. See arm, revolute coordinate; arms and hands; grippers. Harvard architecture, 158 Haydon, 389 H-bridge, 58, 60, 109, 353 354, 357 headers, 88 89 heat detection, 636 638 Heinlein, Robert, 11 hexapods, 18 HIGH and LOW, 260 263, 349, 382, 404, 533, 564 565 for navigation, 603, 606, 611, 618, 621 622 Hitec, 400, 410 home, protecting from robot, 654 655 Honda Asimo, 653 Hot Paw BASIC, for PDAs, 159 hydraulic mechanisms Fischertechnik kits, 136 IF/ELSE/ENDIF, 229, 239, 246 250, 260 262, 266 268, 506, 533, 564 565 for navigation, 621

One of the sprockets will be attached to power. This is the drive sprocket, and it is marked with a target in the sprocket schematic shown in Fig. 9-6. Where the drive sprocket pulls on the chain it will be tight. On the return path it has some slack and the chain will sag. You should adjust the chain length or the sprocket spacing to keep this slack small.

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