Contents
Chapter 1: Welcome Robot Inventor!
Keeping It Fun and Keeping It Light
Finding Camaraderie and Support
Chapter 2: Where to Obtain Tools and Parts
Benefiting from Age and Experience
Hanging Glasses and Placing Them Face Up
Talking About Your Activities, Materials, and Tools
Purchasing Safer Parts Labeled RoHS
Using Rechargeable Batteries and Professional Transformers
Connecting Through Circuit Breakers and GFCI Outlets
Steering Clear of Dangerous Robots
Staying Rested and Level-Headed
Understanding the Features of a Low-End Multimeter
Understanding the Features of a Mid-Range Multimeter
Understanding the Features of a Higher-End Multimeter
Comparing Prices with Features
Do Not Proceed Without a Meter
Determining Component Values with a Multimeter
Chapter 6: Robot Line-Following
Defining the Course Conditions
Chapter 7: Nine-Volt Batteries
Setting Up a Multimeter for Voltage Testing
Chapter 8: Clips and Test Leads
Setting Up a Multimeter for Continuity Testing
Testing an Alligator Connection (Shorted)
Discovering Unintended Connections
Obtaining a Resistor Variety Pack
Understanding Size and Tolerance
Interpreting the Resistance Displayed on the Meter
Experiencing Resistance Ranges
Looking Up Resistor Values Online
Resisting the Temptation to Skip Ahead
Setting Up a Multimeter for Diode Testing
Testing the Parts Before Assembly
Building the Power Indicator Circuit
Experimenting with the Power Indicator Circuit
Understanding the Roles of Each Component
Measuring the Power Indicator Circuit
Don’t Measure Voltage with Probe in Current Terminal
Chapter 12: Solderless Prototyping
Stripping the Insulation Off of the End of the Wire
Chapter 13: Solderless Breadboard Setup
Obtaining 9 V Battery Snap Connectors
Connecting Power to Binding Posts
Adding a Power Switch to the Breadboard
Adapting Multimeter Probes Using Jumper Wire
Installing a Power Indicator LED
Checking Voltages at Certain Points
Demystifying the Robot’s Power Switch
Chapter 14: Variable Resistors
Variable Brightness LED Circuit
Building the Variable Brightness LED Circuit
Building the Brightness Balanced LEDs Circuit
Cadmium-Sulfide Photoresistors
Obtaining Assorted Photoresistors
Experiencing the Variable Resistance of a Photoresistor
Balanced Brightness-Sensing Circuit
Part List for Balanced Brightness-Sensing Circuit
Resistance-Balancing Potentiometer
Converting Resistance to Voltage with a Voltage Divider
Building the Balanced Brightness-Sensing Circuit
Inability to Balance the Brightness-Sensing Circuit
Comparing a Schematic with a Wiring Diagram
Drawing Connected and Unconnected Wire
Understanding the Brightness Comparator Circuit
Parts List for the Brightness Comparator Circuit
Building the Brightness Comparator Circuit
Understanding the Headlight Circuit’s Two LEDs
Building the Headlight Circuit
Repeating the Multiple LED Trick
Chapter 16: Transistor Switches
Focusing on the 2907A Transistor
Testing Bipolar Transistors with a Multimeter
Testing with a Multimeter that Has a Transistor Socket
Testing with a Multimeter that Has a Diode Test
Bipolar Transistor Test Circuits
Examining the Schematic for the PNP Transistor Test Circuit
Building the PNP Transistor Test Circuit
Examining the Schematic for the NPN Transistor Test Circuit
Building the NPN Transistor Test Circuit
Brightness Comparator Circuit with Transistors
Calculating Current-Limiting Transistors
Building the Brightness Comparator Circuit with Transistors
Summarizing PNP and NPN Transistors
Looking Inside an Iron-Core Permanent-Magnet DC Brush Motor
Looking Inside an Iron-Core Permanent-Magnet DC Brushless Motor
Looking Inside a Coreless Permanent-Magnet DC Brush Motor
Selecting a Motor for the Simple DC Motor Circuit
Selecting a Battery for the Simple DC Motor Circuit
Building the Simple DC Motor Circuit
Primary Characteristics of DC Motors
Rotational Speed Characteristic of DC Motors
Torque Characteristic of DC Motors
Voltage Characteristic of DC Motors
Current Characteristic of DC Motors
Efficiency Characteristic of DC Motors
Audible Noise Characteristic of DC Motors
Electrical Noise Characteristic of DC Motors
Mass Characteristic of DC Motors
Dimension Characteristic of DC Motors
Summarizing the Characteristics of DC Motors
Looking Inside a Spur Gearhead Motor
Imperfect Speed to Torque Conversion
Comparing Planetary Versus Spur Gearhead Motors
Chapter 18: Adding Gearhead Motors
Adding Motors to the Brightness Comparator Circuit
Building the Motors onto the Brightness Comparator Circuit
Characteristics of Robot Wheels
Determining Minimum and Maximum Diameter
Determining the Maximum Diameter Based on Speed
My Choice of Wheels for Sandwich
Alternative Choices of Wheels for Sandwich
Making Couplers If You Have Metal-Working Equipment
Choosing Between Brass and Aluminum Tubing
Specifying and Obtaining Tubing Sizes
Measuring and Cutting the Tubing
Determining and Marking Tube Lengths
Selecting a LEGO Cross Axle Length
Adding a Setscrew to the Coupler
Marking a Hole for the Setscrew
Drilling the Hole for the Setscrew
Tapping the Hole for the Setscrew
Chapter 21: Soldering Equipment
Steps of a Typical Soldering Session
Chapter 22: Soldering and Connecting
Putting Together the Motors and Switches
Putting Together the Line-Following Switch
Putting Together the Tube LED Circuit
Tweaking For Better Performance
Point-to-Point Soldering Versus a Printed Circuit Board
Point-to-Point Soldering the Line-Following Circuit
Testing the Robot’s Electronics
The Dangers of a Low-Resistance Circuit
Checking All Leads that Connect Directly to Positive Voltage
Measuring the Resistance of the Entire Circuit
Ethereal Drafting—Thinking About the Robot
Vision Revision—Accepting Constraints Based on Available Parts
Embracing Prefabricated Platforms
Transforming the Sandwich Container
Installing the Motors and Tube
Adding the Switches and Battery Holder
Drilling Holes for the Trimpots
Carving Out a Window in the Container Lid
Chapter 25: Launching the Line-Follower
Trial Run: Following a Straight Line
Does This Look Straight to You?
Potential Improvements Line-following robot:
Protecting Against a Reversed Battery
Eliminating Surges with Capacitors
Chapter 26: Smoother, Smaller, Cheaper
Lowering Light Sensor Resistance
Reducing Cost and Improving Capabilities
Object Detection and Infrared Remote Control
Encoders—Determining Wheel Speed
Seattle Robotics Society Robothon
Dallas Personal Robotics Group Roborama
Central Illinois Robotics Club
Chicago Area Robotics Group (Chibots)
Ohm’s Law is Helpful in Selecting a Current-Limiting Resistor
Help in Determining Current from a Voltage
The Larger Implication of Ohm’s Law
Things I’ve Accidentally Destroyed While Writing This Book
Which Way Does a 9 V Battery Get Installed?