Download - E BOT Workshop #1
![Page 1: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/1.jpg)
EBOT Workshop #1
Zan HechtOctober 14th, 2004
Basic Mechanical Design
![Page 2: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/2.jpg)
What’s in the Kit?
![Page 3: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/3.jpg)
What’s in the Kit?
Bars and Plates
![Page 4: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/4.jpg)
What’s in the Kit?
Angle
![Page 5: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/5.jpg)
What’s in the Kit?
Nuts and Bolts
![Page 6: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/6.jpg)
What’s in the Kit?
Standoff
![Page 7: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/7.jpg)
What’s in the Kit?
Standoff
![Page 8: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/8.jpg)
What’s in the Kit?
Shafts and Shaft Collars
![Page 9: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/9.jpg)
What’s in the Kit?
Locking Bars
![Page 10: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/10.jpg)
What’s in the Kit?
Locking Bars
![Page 11: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/11.jpg)
What’s in the Kit?
Locking Bars
![Page 12: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/12.jpg)
What’s in the Kit?
Locking Bars
![Page 13: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/13.jpg)
What’s in the Kit?
Gussets
Plus Gusset Angle Gusset Pivot Gusset
![Page 14: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/14.jpg)
What’s in the Kit?
Motors
![Page 15: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/15.jpg)
What’s in the Kit?
Motors
• Motors are fragile• Do not back-drive• Do not side load• Be careful when
mounting
![Page 16: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/16.jpg)
What’s in the Kit?Delrin Bearings
Use with motors or rapid movement
![Page 17: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/17.jpg)
What’s in the Kit?Delrin Bearings
![Page 18: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/18.jpg)
What’s in the Kit?Bearing Bars
Use with slow movement (such a pivot)
![Page 19: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/19.jpg)
What’s in the Kit?
Bearing Bars
![Page 20: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/20.jpg)
What’s in the Kit?
Bearing Bars
![Page 21: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/21.jpg)
What’s in the Kit?
Sprockets
![Page 22: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/22.jpg)
What’s in the Kit?
Chain
![Page 23: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/23.jpg)
What’s in the Kit?
Chain
![Page 24: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/24.jpg)
What’s in the Kit?
Wheels
![Page 26: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/26.jpg)
What’s in the Kit?
Wiring the Robot Controller
![Page 27: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/27.jpg)
Building a Robot
![Page 28: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/28.jpg)
Building a Robot
Skid (Tank) Steering
ROBOT
A B
![Page 29: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/29.jpg)
Building a Robot
Skid (Tank) Steering
ROBOT
A B
![Page 30: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/30.jpg)
Building a Robot
Skid (Tank) Steering
ROBOT
A B
![Page 31: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/31.jpg)
Building a Robot
Skid (Tank) Steering
ROBOT
A B
![Page 32: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/32.jpg)
Building a Robot
Skid (Tank) Steering
ROBOT
A B
![Page 33: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/33.jpg)
Building a Robot
Skid (Tank) Steering
ROBOT
A B
![Page 34: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/34.jpg)
Building a Robot
4 Wheels vs. 2 Wheels
ROBOT
![Page 35: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/35.jpg)
Building a Robot
4 Wheels vs. 2 Wheels
ROBOT
RO
BO
T
![Page 36: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/36.jpg)
Building a Robot
4 Wheels vs. 2 Wheels
ROBOT
RO
BO
T
![Page 37: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/37.jpg)
Building a Robot
Center of Gravity
![Page 38: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/38.jpg)
Building a Robot
Center of Gravity
![Page 39: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/39.jpg)
Building a Robot
Center of Gravity
![Page 40: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/40.jpg)
Building a Robot
Center of Gravity
![Page 41: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/41.jpg)
Building a Robot
Chain Theory
16 32
![Page 42: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/42.jpg)
Building a Robot
Chain Theory
16 32
![Page 43: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/43.jpg)
Building a Robot
Chain Theory
16 32
![Page 44: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/44.jpg)
Building a Robot
Chain Theory
16 32
![Page 45: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/45.jpg)
Building a Robot
Chain Theory
16 32
![Page 46: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/46.jpg)
Building a Robot
Chain Theory
16 32
![Page 47: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/47.jpg)
Building a Robot
Chain Theory
16 32
![Page 48: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/48.jpg)
Building a Robot
Chain Theory
16 32
![Page 49: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/49.jpg)
Building a Robot
Chain Theory
16 32
![Page 50: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/50.jpg)
Building a Robot
Chain Theory
16 32
![Page 51: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/51.jpg)
Building a Robot
Chain Theory
16 32
![Page 52: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/52.jpg)
Building a Robot
Chain Theory
16 32
![Page 53: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/53.jpg)
Building a Robot
Chain Theory
16 32
![Page 54: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/54.jpg)
Building a Robot
Chain Theory
16 32
![Page 55: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/55.jpg)
Building a Robot
Chain Theory
16 32
![Page 56: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/56.jpg)
Building a Robot
Chain Theory
16 32
![Page 57: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/57.jpg)
Building a Robot
Chain Theory
16 32
![Page 58: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/58.jpg)
Building a Robot
Chain Theory
16 32
![Page 59: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/59.jpg)
Building a Robot
?*
?*
inputoutput
inputoutput
torquetorque
rpmrpm
Chain Theory
![Page 60: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/60.jpg)
Building a Robot
?*
*
inputoutput
output
inputinputoutput
torquetorque
teethteeth
rpmrpm
Chain Theory
![Page 61: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/61.jpg)
Building a Robot
input
outputinputoutput
output
inputinputoutput
teethteeth
torquetorque
teethteeth
rpmrpm
*
*
Chain Theory
![Page 62: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/62.jpg)
Building a Robot
?robotspeed
Robot Speed
![Page 63: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/63.jpg)
Building a Robot
**60 wheelwheel
robot Diameterrpmspeed
Robot Speed
![Page 64: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/64.jpg)
Building a RobotMotor Performance Data
Speed (RPMs) Torque (oz. in.)
Current (Amps)
Power Out (Watts) Efficiency Heat (Watts)
170 0.00 0.1 0.0 0% 1
159 4.68 0.3 0.5 26% 2
147 9.35 0.4 1.0 34% 2
136 14.03 0.5 1.4 36% 2
125 18.71 0.6 1.7 36% 3
113 23.38 0.7 2.0 34% 4
102 28.06 0.8 2.1 32% 4
91 32.73 0.9 2.2 29% 5
79 37.41 1.0 2.2 26% 6
68 42.09 1.1 2.1 23% 7
57 46.76 1.2 2.0 19% 8
![Page 65: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/65.jpg)
Building a Robot
Robot Speed
What size wheel should I use if I want my robot’s maximum speed to be 3 feet per second?
![Page 66: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/66.jpg)
Building a Robot
Robot Speed
What size wheel should I use if I want my robot’s maximum speed to be 3 feet per second?
3~**60120~3 wheelDiameter
![Page 67: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/67.jpg)
Building a Robot
Robot Speed
What size wheel should I use if I want my robot’s maximum speed to be 3 feet per second?
5.wheelDiameter (6 inches)
![Page 68: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/68.jpg)
Building a Robot
Robot Speed
If the 6” wheels are the largest in the kit, how would I make my robot’s maximum speed 1.5 feet per second (without damaging the motor
or making custom wheels)?
![Page 69: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/69.jpg)
Building a Robot
Robot Speed
If the 6” wheels are the largest in the kit, how would I make my robot’s maximum speed 1.5 feet per second (without damaging the motor
or making custom wheels)?
**60 wheelwheel
robot Diameterrpmspeed
![Page 70: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/70.jpg)
Building a Robot
Robot Speed
If the 6” wheels are the largest in the kit, how would I make my robot’s maximum speed 1.5 feet per second (without damaging the motor
or making custom wheels)?
output
inputinputoutput teeth
teethrpmrpm *
![Page 71: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/71.jpg)
Building a RobotRobot Speed
If the 6” wheels are the largest in the kit, how would I make my robot’s maximum speed 1.5 feet per second (without damaging the motor
or making custom wheels)?
Put a sprocket on the motor that is half the size of the sprocket on the wheel.
![Page 72: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/72.jpg)
Building a Robot
Chain Wrap
Motor
WheelWheel
![Page 73: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/73.jpg)
Building a Robot
Chain Wrap
Motor
WheelWheel
![Page 74: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/74.jpg)
Building a Robot
Chain Wrap
Motor
WheelWheel
![Page 75: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/75.jpg)
Building a Robot
Chain Tension
![Page 76: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/76.jpg)
Building a Robot
Wheelbase
![Page 77: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/77.jpg)
Building a Robot
Wheelbase
![Page 78: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/78.jpg)
Building a Robot
Wheelbase
![Page 79: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/79.jpg)
Building a Robot
Wheelbase
![Page 80: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/80.jpg)
Building a Robot
Chain Alignment
motor
![Page 81: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/81.jpg)
Building a Robot
Supporting Shafts
motor
![Page 82: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/82.jpg)
Building a Robot
Supporting Shafts
motor
![Page 83: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/83.jpg)
Building a Robot
Supporting Shafts
motor
![Page 84: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/84.jpg)
Building a Robot
Supporting Shafts
motor
![Page 85: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/85.jpg)
Building a Robot
Supporting Shafts
motor
![Page 86: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/86.jpg)
Building a Robot
Supporting Shafts
motor
![Page 87: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/87.jpg)
Building a Robot
Supporting Shafts
motor
![Page 88: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/88.jpg)
Building a Robot
Supporting Shafts
motor
![Page 89: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/89.jpg)
Building a Robot
Pivots
Nylock
Steel Washer
Nylock
Teflon Washer
![Page 90: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/90.jpg)
Building a Robot
![Page 91: E BOT Workshop #1](https://reader035.vdocument.in/reader035/viewer/2022062410/56815bf5550346895dc9e506/html5/thumbnails/91.jpg)
Building a Robot