OSRC Open Source Robot Cookbook

From GizmoGarden

Contents 1 introduction 2 robot definition 3 biological equivalents 3.1 simple concepts 3.2 how to generate complex behavior from simple parts 4 concepts 5 control circuitry 6 electronics 6.1 resistor 6.2 diode 6.3 capacitor 6.4 transistor 6.5 gate logic 6.6 integrated circuits 7 mechanical 8 actuators 9 motors 9.1 dc continuous 9.2 stepper 9.3 motor control 10 sensors 11 software 12 references 13 diction 14 comments

[edit] introduction

This is a reference for people interested in creating robots. We hope to make this technology more accessible to a larger community of hobby enthusiasts, tinkerers, and mad scientists. <<multi field>> <<entertaining and not as hard as you would assume - example of autonima? - program your vcr>>

[edit] robot definition

Wikipedia's definition of robot. Here we will go into more detail on how to make a robot.

[edit] biological equivalents

[edit] simple concepts

• sensor->gate->action || flame->hand->reaction

[edit] how to generate complex behavior from simple parts

[edit] concepts

• feedback loops

[edit] control circuitry

<<biological example>>

• computer <<by the fact you made it here - means you are at least a little familiar with what a computer is and how part of it operates>>
• micro-controller

[edit] electronics

<<basic blocks of electronics>>

[edit] resistor

Image:Resistor.jpg

[edit] diode

Image:ComponentDiode.jpg

<<if you want current to flow--> this way>>

[edit] capacitor

[edit] transistor

Image:Transistor.jpg A Transistor is a simple switch, which can take a lower current voltage source and "switch on" or "off" a voltage source with much more current. This allows simple signals of low current to control high current motors or servos.

Type	Package	Diagram
NPN	TIP 120	Image:Npn.jpg
PNP	TIP 121	Image:Pnp.jpg

[edit] gate logic

<<transistor gate circuits>>

[edit] integrated circuits

<<pin reference - looking at the top>>

[edit] mechanical

• lever <<description picture relevance>>
• gear
• rack pinion
• spring
• bushings
• bearings - slip other
• "lazy susan"

[edit] actuators

• solenoids
• relays
• motors - large section dedicated

[edit] motors

[edit] dc continuous

• brush, brushless

[edit] stepper

[edit] motor control

• Pulse Width Modulation (PWM)
• different ways to create PWM
  • 555 circuit - excellent reference
  • 555 details explained - for tweaking frequency and pulse width

frequency	PRO	CON
2-1Khz Low	no audible noise	jerky
1Khz-18Khz	smoother	irritating noise
18Khz-40Khz	very smooth, less noise	can over saturate, shorter speed range, high inductance

[edit] sensors

• camera
• ultra-sonic transducer
• encoders
• accelerometer
• gyroscope
  • fiber optic
  • mechanical
• infra-red
• halls-effect - good for positioning

[edit] software

• simple programming blocks
• modularity modularity modularity
• game of life
• AI
• text to speech
• voice recognition

[edit] references

• online stores matrix - parts - comments - ratings
• forums
• sites
• circuits
  • http://www.allaboutcircuits.com/
  • http://www.elexp.com/t_test.htm
• robotics
  • http://www.ibm.com/developerworks/linux/library/l-robotools/

[edit] diction

• sink
• source - the
• anode
• cathode
• current
• electric field
• flow
• computer
• microcontroller

[edit] comments

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