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机器人制作初学指南(第3版)

机器人制作初学指南(第3版)

定 价:¥99.00

作 者: [美] David Cook 著;臧海波 译
出版社: 人民邮电出版社
丛编项: 爱上机器人
标 签: 百科知识 科普读物

购买这本书可以去


ISBN: 9787115451590 出版时间: 2017-04-01 包装: 精装
开本: 16开 页数: 311 字数:  

内容简介

  本书是为零基础的读者打造的机器人制作入门指南,着重讲述电池供电机器人的制作过程和相关知识,图文并茂,内容详细。阅读本书不要求你有正规工科知识背景,只要你对科学有兴趣,喜欢制作机器人,那么通过这本书循序渐进的讲解,就能制作出很棒的作品。

作者简介

  大卫-库克是一个人气很高的网站RobotRoom.com的拥有者,和各位读者分享其制作机器人的经验已有十余年的时间。他的两本机器人书籍由Apress出版。

图书目录

第 1 章 欢迎机器人发明家.....................................................1 四门学科........................................................................................... 1 什么是自制机器人...............................................................................1 大脑 ..................................................................................................................2 电源 ..................................................................................................................3 传感器 ...............................................................................................................4 动作和反馈 ........................................................................................................5 电机控制器 ........................................................................................................5 其他元件 ............................................................................................................6 身体 ..................................................................................................................6 搭建................................................................................................. 7 循序渐进 ............................................................................................................7 制作模块 ............................................................................................................7 乐趣第一,不怕失败 ............................................................................................7 寻找同好,获得帮助 ............................................................................................8 不断进取........................................................................................... 8 第 2 章 如何购买材料和工具................................................10 获取免费信息................................................................................... 10 发现有价值信息................................................................................ 11 善用对比 ..........................................................................................................11 零件统计 ..........................................................................................................11 比较价格 ..........................................................................................................12 怎么省钱......................................................................................... 12 第 3 章 安全常识.............................................................14 年龄和经验的重要性.......................................................................... 14 详细说明......................................................................................... 14 会看化学品标签 ................................................................................................15 佩戴护目镜...................................................................................... 15 保管护目镜的方法 .............................................................................................15 穿着安全服...................................................................................... 15 确保通风良好................................................................................... 16 正确储存......................................................................................... 16 让周围的人了解你的工作 ....................................................................................16 饭前洗手......................................................................................... 16 远离有害元素................................................................................... 16 铅 ...................................................................................................................17 水银 ................................................................................................................17 镉 ...................................................................................................................18 购买带有 RoHS 标志的安全产品 .........................................................................18 电击............................................................................................... 18 AC 和 DC 的区别 ..............................................................................................18 使用可充电电池和专用变压器 ..............................................................................19 使用空气开关和带漏电保护的插座 .......................................................................19 保留地线 ..........................................................................................................20 不带电工作 ......................................................................................................20 不要制作危险的机器人........................................................................ 20 控制好电机尺寸................................................................................ 21 照明............................................................................................... 21 注意休息做好计划............................................................................. 21 第 4 章 数字万用表........................................................... 22 必备功能......................................................................................... 22 数字显示 ..........................................................................................................22 位数 ................................................................................................................23 DC 电压 ..........................................................................................................23 DC 电流 ..........................................................................................................23 电阻 ................................................................................................................23 表笔或探针 ......................................................................................................23 过载 / 熔丝保护 .................................................................................................24 附加功能......................................................................................... 24 电容 ................................................................................................................24 二极管 .............................................................................................................24 连通性 .............................................................................................................24 频率 ................................................................................................................24 占空比 .............................................................................................................25 自动量程 ..........................................................................................................25 自动关机 ..........................................................................................................25 晶体管 .............................................................................................................25 双显 ................................................................................................................26 最大值 .............................................................................................................26 最小值 .............................................................................................................26 支架 ................................................................................................................26 可选功能......................................................................................... 26 电感 ................................................................................................................26 数据接口 ..........................................................................................................27 示波器 .............................................................................................................27 背光 ................................................................................................................27 秒表 / 单脉冲宽度 ..............................................................................................27 温度 ................................................................................................................27 声音 ................................................................................................................28 计数器 .............................................................................................................28 条形图 .............................................................................................................28 数据保持 ..........................................................................................................28 数据自动 ..........................................................................................................28 高/低/逻辑 .....................................................................................................28 记忆 ................................................................................................................29 相对 ................................................................................................................29 偏差 ................................................................................................................29 限定测试 / 比较 .................................................................................................29 皮套或橡胶套 ...................................................................................................29 AC 功能.......................................................................................... 29 AC 电压 ..........................................................................................................29 真有效值 ..........................................................................................................30 AC 电流 ..........................................................................................................30 购买挂钩探针 ...................................................................................................30 万用表对比参考................................................................................ 30 了解低端万用表的功能 .......................................................................................31 了解中档万用表的功能 .......................................................................................32 了解高档万用表的功能 .......................................................................................33 功能和价格的对比 .............................................................................................34 尝试其他的万用表 .............................................................................................34 先准备好万用表再工作........................................................................ 34 选择度量衡...................................................................................... 35 千进制计数法................................................................................... 35 第 5 章 计量单位.............................................................35 大M和小m .....................................................................................................36 希腊字母 μ 的替换 ............................................................................................37 单位缩写......................................................................................... 37 信息有限怎么办................................................................................ 38 判断单位 ..........................................................................................................38 扩展第三位 ......................................................................................................38 颜色和数字的转换 .............................................................................................39 用万用表测量元件值 ..........................................................................................40 基础知识总结................................................................................... 40 明确试验环境................................................................................... 41 路面材质 ..........................................................................................................41 第 9 章 循线机器人........................................................... 41 光照条件 ..........................................................................................................42 确定路线 ..........................................................................................................42 弧线和交叉线 ...................................................................................................43 试验环境的总体要求 ..........................................................................................44 确定机器人的尺寸............................................................................. 44 认识 Sandwich................................................................................ 44 Sandwich 的结构 .............................................................................................45 循线开关 ..........................................................................................................45 Sandwich 的身体 .............................................................................................49 购买套件......................................................................................... 50 搭建............................................................................................... 50 测量电池电压................................................................................... 51 设置万用表的电压测量档 ....................................................................................51 第 7 章 9V 电池..............................................................51 分析测量结果 ...................................................................................................52 9V 电池的特性................................................................................. 53 9V 电池推荐.................................................................................... 54 推荐 ................................................................................................................54 不建议使用的电池 .............................................................................................56 电池品牌......................................................................................... 57 给机器人用上 9V 电池........................................................................ 58 安装电池 ..........................................................................................................58 继续前进......................................................................................... 59 第 8 章 鳄鱼夹子和探针...................................................... 60 鳄鱼夹子......................................................................................... 60 购买钩夹......................................................................................... 60 跳线的测试...................................................................................... 61 万用表的连通性测试档 .......................................................................................61 开路测试 ..........................................................................................................62 短路测试 ..........................................................................................................63 测试鳄鱼夹子跳线(短路) .................................................................................63 查找无效连接................................................................................... 64 跳线连接......................................................................................... 64 用电阻限制功耗................................................................................ 65 购买电阻包...................................................................................... 65 第 9 章 电阻................................................................... 65 熟悉电阻的大小和误差........................................................................ 66 剪脚............................................................................................... 66 购买剪线工具 ...................................................................................................67 电阻和欧姆...................................................................................... 67 测量电阻......................................................................................... 68 查看万用表上显示的阻值 ....................................................................................68 体验阻值范围 ...................................................................................................69 在线查找电阻值................................................................................ 69 标记和储存...................................................................................... 70 购买元件收纳盒 ................................................................................................70 不要操之过急................................................................................... 71 第 10 章 LED................................................................72 了解 LED 的特性.............................................................................. 72 LED 的尺寸 .....................................................................................................72 LED 的形状 .....................................................................................................73 LED 的镜头透明度 ............................................................................................74 LED 的可视角 ..................................................................................................74 LED 的颜色 .....................................................................................................75 LED 的亮度 .....................................................................................................76 LED 的效率 .....................................................................................................76 超近距离观察 LED............................................................................ 77 认识多色 LED.................................................................................. 78 双色 LED ........................................................................................................78 三色或三态 LED ...............................................................................................78 全彩 LED ........................................................................................................78 测试 LED........................................................................................ 79 设定万用表的二极管模式 ....................................................................................79 分析 LED 测试结果 ...........................................................................................79 元件混装包...................................................................................... 81 点灯上路......................................................................................... 82 搭建和测试电源指示电路 ....................................................................................83 什么是元件列表................................................................................ 83 第 11 章 供电.................................................................83 查看电路图 ......................................................................................................84 电源指示电路................................................................................... 84 看见亮光了吗? ................................................................................................85 测试电源指示电路 .............................................................................................85 熟悉每个元件的功能.......................................................................... 86 测量电源指示电路............................................................................. 86 测量在线电压 ...................................................................................................86 测量电流 ..........................................................................................................89 计算电池寿命 ...................................................................................................90 不要把表笔插在电流端子上测量电压 ....................................................................92 电路总结......................................................................................... 93 第 12 章 免焊测试............................................................94 寻求一种更好的方法.......................................................................... 94 免焊面包板...................................................................................... 94 用插孔实现连接 ................................................................................................95 接线柱 .............................................................................................................97 怎么挑选面包板 ................................................................................................98 免焊面包板的配套连线........................................................................ 99 跳线的选择 ....................................................................................................100 自制跳线........................................................................................101 剥去导线两端的绝缘外皮 ..................................................................................102 按长度切割导线 ..............................................................................................102 弯曲导线末端 .................................................................................................102 建立连接........................................................................................104 电源的设计.....................................................................................105 购买 9V 电池连接器 ........................................................................................105 把电源连接到接线柱 ........................................................................................106 第 13 章 设置免焊电路板.................................................. 105 挑选电源开关..................................................................................106 SPDT 的含义 .................................................................................................107 把开关安装到面包板 ........................................................................................107 连接电源总线..................................................................................108 用跳线扩展万用表表笔功能 ...............................................................................108 连接下方总线 .................................................................................................109 跨接中间的断点 ..............................................................................................109 安装 LED 电源指示器........................................................................ 109 测量接点电压 .................................................................................................110 元件剪脚 ........................................................................................................110 机器人的电源开关............................................................................110 准备向下进行..................................................................................111 第 14 章 可变电阻.......................................................... 112 电位器...........................................................................................112 微调电位器 ....................................................................................................112 调节度盘 ........................................................................................................113 电位器的购买 .................................................................................................113 电位器的测量 .................................................................................................114 LED 亮度调节电路...........................................................................115 搭建 LED 亮度调节电路 ...................................................................................116 亮度平衡电路..................................................................................116 搭建 LED 亮度平衡电路 ...................................................................................117 硫化镉光敏电阻...............................................................................117 光敏电阻的购买 ..............................................................................................117 测量光敏电阻的阻值变化范围 ............................................................................118 光控电路........................................................................................118 平衡亮度传感电路............................................................................119 平衡光线传感电路元件列表 ...............................................................................120 平衡传感对管 .................................................................................................120 光敏电阻的配对 ..............................................................................................120 阻抗平衡电位器 ..............................................................................................121 限流电阻 ........................................................................................................121 测试点 ...........................................................................................................122 用分压器实现电阻和电压的转换 .........................................................................124 搭建亮度传感平衡电路 .....................................................................................125 亮度传感电路的平衡调整 ..................................................................................125 第 15 章 比较器............................................................126 电压比较器.....................................................................................126 认识 LM393 ..................................................................................................126 比较器的购买 .................................................................................................129 亮度比较电路..................................................................................129 电路图和接线图的对比 .....................................................................................129 元件编号 ........................................................................................................130 绘制连线和交叉线 ...........................................................................................130 认识亮度比较电路 ...........................................................................................131 亮度比较电路的元件列表 ..................................................................................131 搭建亮度比较电路 ...........................................................................................131 增加光源........................................................................................134 认识双 LED 光源电路 ......................................................................................134 搭建光源电路 .................................................................................................135 再次使用多个 LED ..........................................................................................136 欣赏简约之美..................................................................................137 第 16 章 晶体管开关....................................................... 138 负电源的定义..................................................................................138 认识 2907 晶体管 ...........................................................................................139 用万用表测试双极型晶体管.................................................................140 使用万用表的晶体管测试功能 ............................................................................140 使用万用表的二极管测试档 ...............................................................................142 双极型晶体管测试电路....................................................................... 143 PNP 型晶体管的测试电路图 .............................................................................143 搭建 PNP 型晶体管测试电路 ............................................................................145 NPN 型晶体管的测试电路图 .............................................................................146 搭建 NPN 型晶体管测试电路 ............................................................................147 带有晶体管的亮度比较电路.................................................................147 计算晶体管的电流 ...........................................................................................147 搭建带有晶体管的亮度比较电路 .........................................................................149 PNP 型和 NPN 型晶体管的总结..........................................................150 直流电机的工作原理.........................................................................151 铁芯永磁直流有刷电机的内部结构 .....................................................................151 第 17 章 直流电机.......................................................... 151 带有铁芯的永磁直流无刷电机的内部结构 ............................................................154 没有铁芯的永磁直流有刷电机 ............................................................................155 简易直流电机电路............................................................................156 简易直流电机电路对电机的要求 .........................................................................156 简易直流电机电路对电池的要求 .........................................................................156 搭建简易电机电路 ...........................................................................................157 直流电机的主要特性.........................................................................157 直流电机的转速特性 ........................................................................................158 直流电机的转矩特性 ........................................................................................160 直流电机的电压特性 ........................................................................................162 启动电流 ........................................................................................................164 空载电流 ........................................................................................................165 载荷电流 ........................................................................................................165 怠速电流 ........................................................................................................165 直流电机的效率特性 ........................................................................................166 直流电机的可闻噪声 ........................................................................................167 直流电机的电噪声特性 .....................................................................................167 直流电机的重量 ..............................................................................................168 直流电机的尺寸 ..............................................................................................168 总结直流电机的特点 ........................................................................................168 直流齿轮电机..................................................................................169 直流正齿轮电机的内部结构 ...............................................................................169 认识齿轮的比 .................................................................................................170 转速和转矩的转化关系 .....................................................................................172 齿轮箱的缺点 .................................................................................................173 行星齿轮和正齿轮电机的区别 ............................................................................173 怎么选择齿轮减速电机 .....................................................................................173 继续进行........................................................................................174 选择减速电机..................................................................................175 购买减速机电机 ..............................................................................................175 第 18 章 安装减速电机..................................................... 175 齿轮减速电机的结构 ........................................................................................176 测量实际电流(平均值) ..................................................................................178 在亮度比较电路中加入电机.................................................................178 认识二极管 ....................................................................................................179 给亮度比较电路安装电机 ..................................................................................180 电子部分大功告成............................................................................181 第 19 章 车轮............................................................... 182 车轮的构造.....................................................................................182 机器人车轮的特点............................................................................182 充气轮胎 ........................................................................................................182 轮胎形状 ........................................................................................................183 轮胎宽度 ........................................................................................................184 胎面花纹 ........................................................................................................184 轮胎直径 ........................................................................................................185 选择机器人车轮 ..............................................................................................186 为 Sandwich 挑选车轮...................................................................... 187 确定最小直径和最大直径 ..................................................................................187 根据速度确定车轮的最大直径 ............................................................................188 我为 Sandwich 挑选的车轮 ..............................................................................189 Sandwich 车轮之外的选择 ..............................................................................190 轮胎的清洁.....................................................................................191 轮式驱动........................................................................................192 供选方案........................................................................................193 第 21 章 轴连接器.......................................................... 193 用金属加工设备制作轴连接器 ............................................................................194 打印版轴连接器 ..............................................................................................194 管材..............................................................................................194 铜管和铝管的选择 ...........................................................................................194 管材尺寸的测量和购买 .....................................................................................195 管材的测量和切割............................................................................196 切割管材 ........................................................................................................196 切割后的打磨 .................................................................................................198 切割件的测试 .................................................................................................198 乐高十字轴.....................................................................................199 确定乐高十字轴的长度 .....................................................................................199 购买乐高十字轴 ..............................................................................................200 车轴与轴连接器的粘合....................................................................... 200脱胶 ..............................................................................................................200 使用环氧树脂 .................................................................................................201 给轴连接器增加一个固定螺丝..............................................................202 标记固定螺丝孔 ..............................................................................................202 钻床 ..............................................................................................................202 钻床台钳 ........................................................................................................203 钻固定螺丝孔 .................................................................................................203 攻固定螺丝孔 .................................................................................................203 安装螺丝钉 ....................................................................................................203 轴连接器的使用感受.........................................................................204 焊锡..............................................................................................205 第 21 章 焊接设备.......................................................... 205 助焊剂...........................................................................................206 电烙铁...........................................................................................206 烙铁架...........................................................................................207 焊接海绵........................................................................................207 辅助工具........................................................................................208 真空除锡工具..................................................................................209 典型焊接步骤..................................................................................209 准备焊接........................................................................................210 电机和开关组件...............................................................................211 电机组件 ........................................................................................................211 第 22 章 焊接连线.......................................................... 211 组装循线模式选择开关 .....................................................................................220 组装套管 LED 电路 .........................................................................................224 完成组装 ........................................................................................................225 焊接经验........................................................................................226 循线电路........................................................................................227 第 23 章 主控板............................................................227 调整优化 ........................................................................................................229 点对点焊接与印制电路板的比较 .........................................................................230 点对点焊接循线电路 ........................................................................................231 用焊接助手辅助安放元件 ..................................................................................231 布局实例 ........................................................................................................232 购买 IC 插座 ...................................................................................................232 把 Molex KK 插座粘在电路板上 ........................................................................233 元件管脚的折弯 ..............................................................................................234 焊接硫化镉光敏电阻 ........................................................................................236 测试机器人的电路............................................................................237 低电阻电路的危险性 ........................................................................................237 检查管脚漏焊 .................................................................................................237 检查连接到正极总线的管脚 ...............................................................................238 测量整个电路的电阻 ........................................................................................238 测量电压降 ....................................................................................................239 焊点的补焊 ....................................................................................................239 屏住呼吸........................................................................................240 构思机器人的身体............................................................................241 运用概念式设计 ..............................................................................................241 根据零件实物进行设计 .....................................................................................241 第 24 章 结构搭建.......................................................... 241 设计个性化的身体 ...........................................................................................242 改造 Sandwich 容器........................................................................244 加工电机孔 ....................................................................................................244 安装电机 ........................................................................................................247 制作电机套管 .................................................................................................248 把电机装入套管 ..............................................................................................251 安装开关和电池支架 ........................................................................................251 安装电源开关 .................................................................................................252 安装电路板 ....................................................................................................253 加工电位器调节孔 ...........................................................................................255 在容器盖子上磨出一个窗口 ...............................................................................255 收尾工作 ........................................................................................................256 准备运行........................................................................................256 优化调整........................................................................................257 初步检查 ........................................................................................................257 第 25 章 启动循线机器人.................................................. 257 试运行:跟随一条直线 .....................................................................................260 纠正常见问题 .................................................................................................261 首次上路........................................................................................266 解决转向问题 .................................................................................................266 循线机器人的改进措施....................................................................... 267 防止电池反接 .................................................................................................267 用电容器消除浪涌电流 .....................................................................................268 提高循线性能 .................................................................................................269 完美谢幕........................................................................................270 第 26 章 更灵活、更轻巧、更便宜........................................ 272 优化传感器电路...............................................................................272 降低光电传感器的电阻 .....................................................................................273 直线行驶 ........................................................................................................273 继续修改或彻底更新? .....................................................................................274 降低成本改善性能............................................................................274 缩小尺寸 ........................................................................................................275 增加功能 ........................................................................................................277 降低成本 ........................................................................................................278 不断提高........................................................................................279 第 27 章 增补内容.......................................................... 280 机器人的元件..................................................................................280 逻辑芯片 ........................................................................................................280 微控制器 ........................................................................................................281 电源稳压器 ....................................................................................................282 电容器 ...........................................................................................................283 太阳能电池 ....................................................................................................284 网络电阻 ........................................................................................................285 按钮 ..............................................................................................................285 DIP 开关 .......................................................................................................286 跳线和短路块 .................................................................................................286 倾斜传感器 ....................................................................................................287 温度传感器 ....................................................................................................287 触摸传感器 ....................................................................................................288 目标检测与红外遥控 ........................................................................................288 距离检测传感器 ..............................................................................................289 石英晶体振荡器 ..............................................................................................289 声音 ..............................................................................................................289 继电器 ...........................................................................................................290 附加齿轮 ........................................................................................................290 舵机 ..............................................................................................................291 编码器——检测车轮转速 ..................................................................................291 显示器 ...........................................................................................................292 无线数控 ........................................................................................................292 日常挑战........................................................................................293 室内植物浇水机器人 ........................................................................................293 堆肥车 ...........................................................................................................293 垃圾车 ...........................................................................................................293 洗窗机器人 ....................................................................................................294 屋顶鼠 ...........................................................................................................294 微型扫雪机 ....................................................................................................294 压路机 ...........................................................................................................294 自动信报箱 ....................................................................................................294 竞赛..............................................................................................295 风靡世界的机器人相扑 .....................................................................................295 三一学院的消防竞赛 ........................................................................................295 亚特兰大机器人吸尘竞赛 ..................................................................................296 西雅图机器人协会的 Robothon ........................................................................296 达拉斯个人机器人团队 Roborama ....................................................................296 伊利诺斯州中部机器人俱乐部 ............................................................................296 芝加哥地区的机器人俱乐部(Chibots) .............................................................297 无限可能性.....................................................................................297 附录 A......................................................................... 298 神奇的欧姆定律...............................................................................298 用欧姆定律选择限流电阻 ..................................................................................299 通过电压判断电流 ...........................................................................................299 欧姆定律的要点 ..............................................................................................300 欧姆定律产生的效果 ........................................................................................300 这本书的“战损”............................................................................300 9V 电池该怎么安装? ......................................................................................301 开关烧融 ........................................................................................................301 万用表烧保险丝 ..............................................................................................302 失败不可避免 .................................................................................................302 电压的叫法.....................................................................................302 地和负电压的区别 ...........................................................................................303 V 加双字符 ....................................................................................................303 附录 B......................................................................... 304 认识 3D 打印..................................................................................304 容易实现 ........................................................................................................305 显著改善 ........................................................................................................305 打印电机轴连接器............................................................................305 设计模型 ........................................................................................................306 准备打印 ........................................................................................................307 3D 打印 .........................................................................................................307 完成后的轴连接器 ...........................................................................................308 3D 打印版车轮................................................................................308 刷胎面胶 ........................................................................................................309 复合式车轮 ....................................................................................................309 设计机器人的身体............................................................................310 机盖 ..............................................................................................................311 尝试自己动手..................................................................................311

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