Practical Robotics

CHAPTER 1

ELECTRONIC EQUIPMENT FOR ROBOTICIST 3

 ROBOTICS TOOL KIT, OSCILLOSCOPES, FUNCTION GENERATORS, 
 DIGITAL MULTIMETER 3-5
 INDUCTANCE/CAPACITANCE METER, LOGIC PROBE, LOGIC PULSER
 IC TEST CLIP 6
 HANDY TOOLS, POWER SUPPLIES  7-8
         CLASSROOM WORKSTATIONS, BUYING AND USING OSCILLOSCOPES 9-13

CHAPTER 2

ELECTRONICS REFRESHER AND QUIZ 15 
 QUESTIONS 15-25
 ANSWERS 26-38 

CHAPTER 3

 ELECTRONICS COMPONENTS FOR HOBBYISTS AND THE CLASSROOM 39
  RESISTORS, RHEOSTATS, TRIMPOTS, CAPACITORS 39-41
 RELAYS 42-44
 DIODES AND BRIDGE RECTIFIERS 44-46
 TRANSISTORS, POWER MOSFETS 46-48
 TRANSISTOR TESTING PROCEDURES 48
 35 AMP MOSFET SWITCH 49
 HEAT SINKS 50
 IC CONVENTIONS TIPS FOR USING ICS  48
 ICíS FOR ROBOTIC PROJECTS, TTL/CMOS OPERATING PARAMETERS
 AND CONVERSIONS 51-53
 ELECTRONIC BOOKS FOR ROBOTICISTS, SEMI CONDUCTOR REPLACE-
 MENT GUIDES, STORING MANY ICíS 53-55
 OP AMP, BUFFERS, COMPARATORS 56-59
 USEFUL ICíS, REGULATORS, TIMERS ETC 59-61
 COMPLETE LIST OF ICíS REQUIRED FOR PROJECT APPLICATIONS 62

CHAPTER 4

POWER SUPPLIES, BATTERIES, ENERGY AND POWER 63
 POWER SUPPLIES, LOAD RESISTORS FOR SWITCHING 
 POWER SUPPLIES 63-65
 LINEAR POWER SUPPLIES, AC ADAPTERS, REDUCING 
 POWER SUPPLY RIPPLE, BRUTE FORCE POWER SUPPLY,
 CURING POWER SUPPLY NOISE 66-68
 SIGNAL AND POWER GROUNDS , DC -DC CONVERTERS 69-71
 VOLTAGE AND CURRENT REGULATION 71-73
 BATTERY TYPES, CHARGING, DISCHARGING, TESTING 73-75
 BATTERY AND FUEL CELL ENERGY/VOLUME DENSITIES, SIZES
 WEIGHTS 76-79
 MEASURING INTERNAL RESISTANCE 79-81
 SEALED LEAD ACID (SLA) BATTERIES 82-83
 CHARGING SLAS AND NICDS  83-85
 BATTERY PACKS, TEMP PERFORMANCE OF BATTERIES
 CHOOSING BATTERIES FOR PROJECTS 85-86
 COMPARING HUMANS AND MACHINES (AUTOMOBILE, RUNNERS, 
 POWERED BICYCLES) 86-91
 SUMMARY OF ENERGY USAGE FOR AUTO, RUNNER AND 
 BICYCLE 92

CHAPTER 5

 TRANSDUCTION METHODS, INGENIOUS DEVICES, 
 TRANSDUCER BOOKS 93
 TRANSDUCER SPECS DEFINITIONS 94-99 
 RESISTIVE TRANSDUCERS AND THEIR USES, MONITORING
 ROTARY AND LINEAR MOTIONS, SCREW FORCE MULTIPLIER  99-101
 STRAIN GAGES AND APPLICATIONS 101-104
 BUILDING AND TESTING A STRAIN GAGE TILT SENSOR 105-109
 CONDUCTING PLASTIC SENSORS, FORCE SENSING RESISTOR
 FSRS 110-113
 MAKING AND TESTING A FOAM ANGLE SENSOR , MONITORING FINGER 
 MOVEMENTS 113-116
 CARBON BLACK, HOMEMADE CONDUCTIVE COATINGS 117-118
 STRETCH  RESISTORS 119-121
 SIGNAL SATURATION, FLOW MEASURMENT, WIND GENERATORS, USING A  PITOT TUBE 121-124
 STRAIN GAGE, WIND METER, CUP ANEMOMETER, HOT WIRE ANEMOMETRY   125-128
 DIODE ANEMOMETER, WIND TUNNEL BALANCE 128-129
 TEMPERATURE SENSING METHODS, TEMPERATURE REFERENCES AND   SENSORS, THERMOMETRYPOP CAN OVEN  130-136
 SOLID STATE TEMPERTURE SENSORS AND CIRCUITS 136-139
 CAPACITIVE SENSORS 139-141
 MAKING AND TESTING A CAPACITIVE FORCE SENSOR 142-144
 CAPACITIVE ROTATION AND PROXIMITY SENSORS 145-146
 MAGNETIC SENSORS 146-148
 HALL EFFECT SENSORS, REED SWITCHES FOR SUBMERSIBLES 148-151
 MAGNETORESISTIVE SENSORS, CLAMP ON PROBES, MAGNETOMETERS
 MAGNETIC CORES AND WINDINGS 155
 MAKING AND TESTING A MAGNETIC ROTATION SENSOR  156-158
 LVDT MAKING AND TESTING A LONG STROKE MAGNETIC DISPLACEMENT   SENSOR  159-160
 EDDY CURRENTS FOR BRAKING PROPULSION AND STRAIN     MEASUREMENT 161-163
 PIEZOELECTRIC SENSORS USING  PZT BENDERS AND DISKS 164-166
 ULTRASONIC PROXIMITY DETECTION AN ULTRASONIC TRANSMITTER AND  
 RECEIVER  167-169
 BUILDING A PZT TOUCH SENSOR 172
 PIEZO ACCELEROMETER OR IMPULSE SENSOR, PIEZO MICROBALANCE 173 MISCELLANEOUS SENSORS 174-175

CHAPTER 6  FORCE TRANSDUCERS AND MECHANISMS

 FORCE TRANSDUCERS, MECHANICAL DEVICES, ROARY TO LINEAR    CONVERSION  177-178
 LOUDSPEAKER ACTION, COMPACT DISK PLAYER 178-179
 LINEAR PROPULSION, ROTARY TRANSDUCTION, FLAT COIL ACTUATORS 
  180-182
 GALVANOMETERS, LASER WRITING AND SCANNING WITH GALVOS 182-184
 CONSTRUCTING A HIGH SPEED OPTICAL SHUTTER  184-186
 GALVANOMETER APPLICATIONS  187-188
 BUILDING HOMEMADE GALVANOMETERS 188-192
 OPERATING AND TESTING GALVANOMETERS 193-195
 ELECTROMAGNETS, CHESS PLAYERS 195-196
 ELECTRIC MOTORS FOR POLAR COORDINATE POSITIONING 197-198
 PRACTICAL PROPERTIES OF MAGNETS 198-199
 BUILDING ELECTROMAGNETS, MOVING CHESS PIECES 199-201
 XY MOTION BASES A LINEAR TRANSLATION STAGE 201-203
 BRAILE ARRAYS, MAKING BRAILE TRANSDUCERS 204-205
 LEVITATION AND MAGNETIC FORCES 205-207
 MAGNETIC ATTRACTION FORCES, SOLENOID FORCES 207-210
 MEASURING PULL FORCES 210
 ELECTROMAGNETIC BRAKES, CLUTCHES 211-213
 PNUEMATIC AND HYDRAULIC TRANSDUCERS (NOTE) 213

CHAPTER 7 ELECTRONIC CONSTRUCTION

 EQUIPMENT REQUIREMENTS, CARBON,METAL FILM, WIRE WOUND    RESISTORS, DIP & SIP RESISTOR NETWORKS 215-217
 HOMEMADE POWER REISITORS, POTENTIOMETERS, HIGH VALUE AND   HIGH VOLTAGE RESISTORS 217-220
 CAPACITORS,DIODES, TRANSISTORS, INDUCTORS 221-224
 WIRE AND CABLE, WIRE GAGE TABLE 222-224
 WIRE INSULATIONS 225
 MAGNET WIRE PROJECT WIRING TIPS 226
 COAXIAL CABLE, TWISTED PAIRS, TRANSMISSION LINE REFLECTIONS,   TERMINATION RESISTORS 227-230
 CABLE TIES, WIRE MARKERS 230
 SKIN EFFECT, LITZ WIRE MARKERS, HEAT SHRINK TUBING 231
 SOLDERING EQUIPMENT, COLD JOINTS, HEAT SINKS, SOLDERING    TECHNIQUES 232-234
 DESOLDER PUMPS, BRAID, SALVAGING ICS, REPAIRING BROKEN IC PINS
  234-235
 ELECTRONIC HARDWARE, MISCELLANEOUS CONNECTORS, PLUGS,    FUSES, BATTERY HOLDERS  243
 NYLON SCREWS, SOLDERLESS BREADBOARDS 244-245
 PERF BOARDS 246
 SMD TO DIP INTERFACING TECHNIQUES, MICRO SOLDERING TIP, MAKING   THIN SOLDER 247
 TROUBLESHOOTING TIPS FOR ELECTRONIC CIRCUITS 250-252  ELECTRONIC ANOMALIES 253

CHAPTER 8 MECHANICAL CONSTRUCTION

 WORKSHOP EQUIPMENT, FACILITIES, TOOLS (LISTS) 255
 FIRST AID PROCEDURES, WORKSHOP TOOLS, EQUIPMENT 256-257
 METAL SHEAR, NIBBLER, GRINDER, HOLE PUNCHES 258-260
 SAWS 261-262
 DRILLS AND DRILLING PROCEDURES 263-265
 TOOLS FOR MAKING LARGE HOLES 265-266
 TAPPING AND DIEING THREADS 265-267
 USEFUL HAND TOOLS 268-271
 CUTTING PLASTIC SHEET, MAKING PERFECTHOLES, FLAT GLASS PLATE
  272-273
 CUTTING AND DRILLING GLASS 274-275
 CUTTING AND BENDING PIPE OR TUBING 276-277
 HEAVY SOLDERING PROCEDURESSOLDER AND FLUXES, SOLDERING   ALUMINUM, BRAZING 276-279
 BENDING ACRYLIC, SOLVENTS, POLISHES 279-280
 ADHESIVES 281-283
 HOT MELT GLUE FOR A BLIMP 284
 CONSTRUCTION MATERIALS 285-286
 FASTENERS, SCREWS, BOLTS, COUPLERS, INSERTS 286-291
 FLEXIBLE AND RIGID TUBING 291-293
 MUSIC WIRE, WHEEL AXLES, CONTROL RODS, TURNBUCKLES 293-295
 SHAFT COUPLINGS, BEARINGS, RIGID AND FLEXIBLE COUPLERS295-298
 MOTOR MOUNTS, GEAR BOXES, HOME MADE GEARING 298-300
 JACKS, WINCHES, POSITIONING LIFTS 300
 WHEELS, AXLES, COLLARS, BRAKES, PULLEYS 301-302
 PIPE AND TUBING FOR CONSTRUCTION  302-303
 SLOTTED STEEL ANGLES 303
 REINFORCING WITH CARBON FIBER 303-305
 DOVETAIL SLIDES, RACK AND PINION SLIDES 306
 NOVEL STAGE MOVERS, ROTATING PLATFORMS 307
 MULTIPURPOSE HOLDERS, THIRD HANDS 308-309
 WEIGHING SCALES 309-310
 SMALL PARTS FROM HOBBY STORE 309-310
THE END