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Springs are so common on people-controlled vehicles, why not include them in the list of suspension systems being discussed Springs do seem to be important to mobility, but what they are really addressing is rider comfort and control in vehicles that travel more than about 8m/s. Below that speed, they are actually a hindrance to mobility because they change the force each wheel exerts on the ground as bumps are negotiated. A four-wheeled conventional independent suspension vehicle appears to keep all wheels equally on the ground, but the wheels that are on the bumps, being lifted, are carrying more weight than the other wheels. This reduces the traction of the lightly loaded wheels. The better solution, at low speeds, is to allow some of the wheels to rise, relative to the chassis, over bumps without changing the weight distribution or changing it as little as possible. This is precisely what happens in rocker and rocker/bogie suspensions. Ground pressures across all vehicles range from twenty to eighty kilopascals (the average human foot exerts a pressure on the ground of about

prototypes, 26, 30 31 with paper products, 26 of PCBs, 85 86 quick turn PCBs, 30 31, 87 88 proximity detector, 193, 608 proximity sensors, 520, 523 530 pulleys and belts, 339 cog type, 339 V type, 339 pulse width modulation (PWM), 303, 360 367, 395 396, 610 punches, spring-loaded, 124 pyroelectric infrared sensor, 193 quadrapods, 18 quadrature encoding, 371 373 quick turn mechanical prototype shops, advantages, 30 31 radio control. See remote control, radiocontrolled. Radio Shack, 71, 74, 494, 552, 572 remote control BS2 interface, 268 Capsula, 135 DO WHILE/LOOP, 266 267 from hacked toys, 141 143 IF/ELSE/ENDIF, 266 268 for near-object detection, 524 530 PAUSE, 272 Sony, packet, 266 267 for sound input sensors, 574 SWITCH statement, 267 remote control, gamepad, 255 258 circuitry, 257 258 for robot motion teaching tool, 258 remote control, infrared, 264 274 codes, receiving and processing, 268 270 components, 265 data packet, 265 266 electronic noise, filtering out, 265 266 microcontroller interface, 266 268 Robosapien, 138 for robot control, 270 273 Sharp standard, 265 signals, 266 272 of TVs, VCRs, adapting, 264 265, 524 530 universal remote control, 265 remote control, joystick, 255 258 Atari, 255 internal wiring diagram, 256 output assignment statements, 260 port pinout, 257 teaching pendant, 259 remote control, radio-controlled, 141, 273 274, 312, 341, 393, 397 over long distances, 273 with Tamiya, 138 transmitter/receiver, 273 274 resistance, 509 resistive bend sensor, 558 resistors breadboard, testing, 84 color coding, explained, 52 53 design principles for, 91 fixed, 52 53 ohm, 52 potentiometer, 53 54, 201 202 pull-up, 91 92, 615

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Robots make some exploration jobs not only safer but possible. Most humans would not be able to walk into the mouth of an active volcano, perform hazardous-waste cleanup at the site of a nuclear accident, explore the surface of Mars for months on end, or crawl through the debris of a fallen building looking for survivors.

resistors (Cont.): variable, 53 54 wattage rating, 53 Robosapien, 138 hacked for (PDAs), 138 robot control. See brain. Robotix, 131, 133 135 robots automaton, 11, 22 autonomous vs. teleoperated, 11 12 cyborg, 10 definitions, competing, 10, 663 664 famous, 11 22 indoors vs. outdoors, 319 mobile vs. stationary, 10 11 round vs. square, 321 322 self-contained or autonomous, 10 sizes and shapes, 13, 17 smart vs. dumb, 21 teleoperated, examples, 11 rods and squares, 30 Rokenbok, 140 roller chain. See chain, roller; sprockets and roller chain. Roomba, 653, 655 656 Rossum s Universal Robot (R.U.R.), 22 rotation, measuring, 373 Rotwang, Dr., 13 14 round vs. square robots, 321 322 Roverbot, 417 429 base, 418 420 batteries, 425 casters, support, 425 426 center of gravity, 420, 429 fasteners, 420 421, 423 424 frame, 426 429 gearbox, 420 riser, 418, 420 speed, 429 wheels, 420 423 RS-232 programming interface, 156 safety precautions, 64 AC-to-DC conversion, 278 batteries, 278 Salvation Army, 35 saws, types, 124 schematics, symbols for, 61 62 Scooterbot, from hacked toys, 131 SELECT/CASE/SELECTEND, 229 230, 248 250, 261 263 sensors, 191 193. See also analog sensor, interfacing; analog-to-digital converter (ADC).; digital sensors; object detection; sound input sensors; tilt sensors; touch sensors; vision, robot. accelerometer, 193 analog, 192 CMOS logic chips, 199 gas or smoke, 193 Hall effect, 608, 612 613, 615 infrared range finder, 193 to keep robot from damaging home, 654 655 light, 193 magneto-inductive, 615 photodetectors, 152, 612 photodiode, 204 phototransistor, 204, 367, 371 372, 479 proximity detector, 193

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