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The system shown in Fig. 11-6 is a form of servomechanism, or servo. A servo is a system that provides controlled motion at a distance, typically using feedback. The generator/motor pair is crude, but the output motor does mirror any motion from the input generator. A true servo system would mirror the input position even in the face of resistance, using an internal

The Fischertechnik kits, made in Germany and imported into North America by a few educational companies, are the Rolls-Royces of construction toys. Actually, toy isn t the proper

Figure 5-9

term because the Fischertechnik kits are not just designed for use by small children. In fact, many of the kits are meant for high school and college industrial engineering students, and they offer a snap-together approach to making working electromagnetic, hydraulic, pneumatic, static, and robotic mechanisms. All the Fischertechnik parts are interchangeable and attach to a common plastic base plate. You can extend the lengths of the base plate to just about any size you want, and the base plate can serve as the foundation for your robot, as shown in Fig. 11-3. You can use the motors supplied with the kits or use your own motors with the parts provided. Because of the cost of the Fischertechnik kits, you may not want to cannibalize them for robot components. But if you are interested in learning more about mechanical theory and design, the Fischertechnik kits, used as-is, provide a thorough and programmed method for jumping in with both feet.

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K Nex uses unusual half-round plastic spokes and connector rods (see Fig. 11-4) to build everything from bridges to Ferris wheels to robots. You can build a robot with just K Nex parts or use the parts in a larger, mixed-component robot. For example, the base of a walking robot may be made from a thin sheet of aluminum, but the legs might be constructed from various K Nex pieces.

feedback loop to measure the actual position and update the mechanism as needed. Radio-controlled vehicles of all kinds rely on servos to control their steering and throttle. These R/C servos consist of a tiny motor and gear train, a feedback sensor on the output shaft, and a circuit to control it all. The servo is given power and a control signal, and the circuit uses feedback from the position sensor to keep the output shaft at the commanded position. Servos are handy because they move the feedback circuit into the motor itself. This is like taking a control function out of the brain and putting it into a neural re ex. The re ex loop is shorter and faster, and it can happen without having to bother the higher-level systems. A stepper motor is a motor that moves in short, controlled steps instead of in a continuous spin. In a continuous motor, the commutator reverses the current to provide constant rotation. A stepper motor doesn t do that for you. An external circuit is needed to reverse the elds and cause the next step. Stepper motors are good for accurately positioning the motor and then holding that position. Stepper motors are often used in robots because of this ne level of control.

spring over the torsion suspension is that the load is supported by the spring very close to the load point, reducing forces and moments in the trailing arm. This can reduce the weight of the suspension system, and puts the system more inside the track s volume rather than inside the chassis.

FIGURE 11-4 K Nex sets let you create physically large robots that weigh very little. The plastic pieces form very sturdy structures when properly connected.

A number of K Nex kits are available, from simple starter sets to rather massive specialpurpose collections (many of which are designed to build robots, dinosaurs, or robot dinosaurs). Several of the kits come with small gear motors so you can motorize your creation. Motors that interface to K Nex parts are also available separately.

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Zoob (made by Primordial) is a truly unique form of construction toy. A Zoob piece consists of a stem with a ball or socket on either end. You can create a wide variety of construction projects by linking the balls and sockets together. The balls are dimpled so they connect securely within their sockets. One practical application of Zoob is to create armatures for human- or animal-like robots. The Zoob pieces work in a way similar to bone joints.

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