機(jī)器人制作初學(xué)指南（第3版）

第 1 章　歡迎機(jī)器人發(fā)明家.....................................................1 四門學(xué)科...........................................................................................　1 什么是自制機(jī)器人...............................................................................1 大腦　..................................................................................................................2 電源　..................................................................................................................3 傳感器　...............................................................................................................4 動作和反饋　........................................................................................................5 電機(jī)控制器　........................................................................................................5 其他元件　............................................................................................................6 身體　..................................................................................................................6 搭建.................................................................................................　7 循序漸進(jìn)　............................................................................................................7 制作模塊　............................................................................................................7 樂趣第一，不怕失敗　............................................................................................7 尋找同好，獲得幫助　............................................................................................8 不斷進(jìn)取...........................................................................................　8 第　2 章 如何購買材料和工具................................................10 獲取免費信息...................................................................................　10 發(fā)現(xiàn)有價值信息................................................................................　11 善用對比　..........................................................................................................11 零件統(tǒng)計　..........................................................................................................11 比較價格　..........................................................................................................12 怎么省錢.........................................................................................　12 第　3 章 安全常識.............................................................14 年齡和經(jīng)驗的重要性..........................................................................　14 詳細(xì)說明.........................................................................................　14 會看化學(xué)品標(biāo)簽　................................................................................................15 佩戴護(hù)目鏡......................................................................................　15 保管護(hù)目鏡的方法　.............................................................................................15 穿著安全服......................................................................................　15 確保通風(fēng)良好...................................................................................　16 正確儲存.........................................................................................　16 讓周圍的人了解你的工作　....................................................................................16 飯前洗手.........................................................................................　16 遠(yuǎn)離有害元素...................................................................................　16 鉛　...................................................................................................................17 水銀　................................................................................................................17 鎘　...................................................................................................................18 購買帶有　RoHS 標(biāo)志的安全產(chǎn)品 .........................................................................18 電擊...............................................................................................　18 AC　和 DC 的區(qū)別 ..............................................................................................18 使用可充電電池和專用變壓器　..............................................................................19 使用空氣開關(guān)和帶漏電保護(hù)的插座　.......................................................................19 保留地線　..........................................................................................................20 不帶電工作　......................................................................................................20 不要制作危險的機(jī)器人........................................................................　20 控制好電機(jī)尺寸................................................................................　21 照明...............................................................................................　21 注意休息做好計劃.............................................................................　21 第　4 章 數(shù)字萬用表...........................................................　22 必備功能.........................................................................................　22 數(shù)字顯示　..........................................................................................................22 位數(shù)　................................................................................................................23 DC　電壓 ..........................................................................................................23 DC　電流 ..........................................................................................................23 電阻　................................................................................................................23 表筆或探針　......................................................................................................23 過載　/ 熔絲保護(hù) .................................................................................................24 附加功能.........................................................................................　24 電容　................................................................................................................24 二極管　.............................................................................................................24 連通性　.............................................................................................................24 頻率　................................................................................................................24 占空比　.............................................................................................................25 自動量程　..........................................................................................................25 自動關(guān)機(jī)　..........................................................................................................25 晶體管　.............................................................................................................25 雙顯　................................................................................................................26 最大值　.............................................................................................................26 最小值　.............................................................................................................26 支架　................................................................................................................26 可選功能.........................................................................................　26 電感　................................................................................................................26 數(shù)據(jù)接口　..........................................................................................................27 示波器　.............................................................................................................27 背光　................................................................................................................27 秒表　/ 單脈沖寬度 ..............................................................................................27 溫度　................................................................................................................27 聲音　................................................................................................................28 計數(shù)器　.............................................................................................................28 條形圖　.............................................................................................................28 數(shù)據(jù)保持　..........................................................................................................28 數(shù)據(jù)自動　..........................................................................................................28 高/低/邏輯　.....................................................................................................28 記憶　................................................................................................................29 相對　................................................................................................................29 偏差　................................................................................................................29 限定測試　/ 比較 .................................................................................................29 皮套或橡膠套　...................................................................................................29 AC　功能..........................................................................................　29 AC　電壓 ..........................................................................................................29 真有效值　..........................................................................................................30 AC　電流 ..........................................................................................................30 購買掛鉤探針　...................................................................................................30 萬用表對比參考................................................................................　30 了解低端萬用表的功能　.......................................................................................31 了解中檔萬用表的功能　.......................................................................................32 了解高檔萬用表的功能　.......................................................................................33 功能和價格的對比　.............................................................................................34 嘗試其他的萬用表　.............................................................................................34 先準(zhǔn)備好萬用表再工作........................................................................　34 選擇度量衡......................................................................................　35 千進(jìn)制計數(shù)法...................................................................................　35 第　5 章 計量單位.............................................................35 大M和小m　.....................................................................................................36 希臘字母　μ 的替換 ............................................................................................37 單位縮寫.........................................................................................　37 信息有限怎么辦................................................................................　38 判斷單位　..........................................................................................................38 擴(kuò)展第三位　......................................................................................................38 顏色和數(shù)字的轉(zhuǎn)換　.............................................................................................39 用萬用表測量元件值　..........................................................................................40 基礎(chǔ)知識總結(jié)...................................................................................　40 明確試驗環(huán)境...................................................................................　41 路面材質(zhì)　..........................................................................................................41 第　9 章 循線機(jī)器人...........................................................　41 光照條件　..........................................................................................................42 確定路線　..........................................................................................................42 弧線和交叉線　...................................................................................................43 試驗環(huán)境的總體要求　..........................................................................................44 確定機(jī)器人的尺寸.............................................................................　44 認(rèn)識　Sandwich................................................................................　44 Sandwich　的結(jié)構(gòu) .............................................................................................45 循線開關(guān)　..........................................................................................................45 Sandwich　的身體 .............................................................................................49 購買套件.........................................................................................　50 搭建...............................................................................................　50 測量電池電壓...................................................................................　51 設(shè)置萬用表的電壓測量檔　....................................................................................51 第　7 章 9V 電池..............................................................51 分析測量結(jié)果　...................................................................................................52 9V　電池的特性.................................................................................　53 9V　電池推薦....................................................................................　54 推薦　................................................................................................................54 不建議使用的電池　.............................................................................................56 電池品牌.........................................................................................　57 給機(jī)器人用上　9V 電池........................................................................　58 安裝電池　..........................................................................................................58 繼續(xù)前進(jìn).........................................................................................　59 第　8 章 鱷魚夾子和探針......................................................　60 鱷魚夾子.........................................................................................　60 購買鉤夾.........................................................................................　60 跳線的測試......................................................................................　61 萬用表的連通性測試檔　.......................................................................................61 開路測試　..........................................................................................................62 短路測試　..........................................................................................................63 測試鱷魚夾子跳線（短路）　.................................................................................63 查找無效連接...................................................................................　64 跳線連接.........................................................................................　64 用電阻限制功耗................................................................................　65 購買電阻包......................................................................................　65 第　9 章 電阻...................................................................　65 熟悉電阻的大小和誤差........................................................................　66 剪腳...............................................................................................　66 購買剪線工具　...................................................................................................67 電阻和歐姆......................................................................................　67 測量電阻.........................................................................................　68 查看萬用表上顯示的阻值　....................................................................................68 體驗阻值范圍　...................................................................................................69 在線查找電阻值................................................................................　69 標(biāo)記和儲存......................................................................................　70 購買元件收納盒　................................................................................................70 不要操之過急...................................................................................　71 第　10 章 LED................................................................72 了解　LED 的特性..............................................................................　72 LED　的尺寸 .....................................................................................................72 LED　的形狀 .....................................................................................................73 LED　的鏡頭透明度 ............................................................................................74 LED　的可視角 ..................................................................................................74 LED　的顏色 .....................................................................................................75 LED　的亮度 .....................................................................................................76 LED　的效率 .....................................................................................................76 超近距離觀察　LED............................................................................　77 認(rèn)識多色　LED..................................................................................　78 雙色　LED ........................................................................................................78 三色或三態(tài)　LED ...............................................................................................78 全彩　LED ........................................................................................................78 測試　LED........................................................................................　79 設(shè)定萬用表的二極管模式　....................................................................................79 分析　LED 測試結(jié)果 ...........................................................................................79 元件混裝包......................................................................................　81 點燈上路.........................................................................................　82 搭建和測試電源指示電路　....................................................................................83 什么是元件列表................................................................................　83 第　11 章 供電.................................................................83 查看電路圖　......................................................................................................84 電源指示電路...................................................................................　84 看見亮光了嗎？　................................................................................................85 測試電源指示電路　.............................................................................................85 熟悉每個元件的功能..........................................................................　86 測量電源指示電路.............................................................................　86 測量在線電壓　...................................................................................................86 測量電流　..........................................................................................................89 計算電池壽命　...................................................................................................90 不要把表筆插在電流端子上測量電壓　....................................................................92 電路總結(jié).........................................................................................　93 第　12 章 免焊測試............................................................94 尋求一種更好的方法..........................................................................　94 免焊面包板......................................................................................　94 用插孔實現(xiàn)連接　................................................................................................95 接線柱　.............................................................................................................97 怎么挑選面包板　................................................................................................98 免焊面包板的配套連線........................................................................　99 跳線的選擇　....................................................................................................100 自制跳線........................................................................................101 剝?nèi)?dǎo)線兩端的絕緣外皮　..................................................................................102 按長度切割導(dǎo)線　..............................................................................................102 彎曲導(dǎo)線末端　.................................................................................................102 建立連接........................................................................................104 電源的設(shè)計.....................................................................................105 購買　9V 電池連接器 ........................................................................................105 把電源連接到接線柱　........................................................................................106 第　13 章 設(shè)置免焊電路板..................................................　105 挑選電源開關(guān)..................................................................................106 SPDT　的含義 .................................................................................................107 把開關(guān)安裝到面包板　........................................................................................107 連接電源總線..................................................................................108 用跳線擴(kuò)展萬用表表筆功能　...............................................................................108 連接下方總線　.................................................................................................109 跨接中間的斷點　..............................................................................................109 安裝　LED 電源指示器........................................................................　109 測量接點電壓　.................................................................................................110 元件剪腳　........................................................................................................110 機(jī)器人的電源開關(guān)............................................................................110 準(zhǔn)備向下進(jìn)行..................................................................................111 第　14 章 可變電阻..........................................................　112 電位器...........................................................................................112 微調(diào)電位器　....................................................................................................112 調(diào)節(jié)度盤　........................................................................................................113 電位器的購買　.................................................................................................113 電位器的測量　.................................................................................................114 LED　亮度調(diào)節(jié)電路...........................................................................115 搭建　LED 亮度調(diào)節(jié)電路 ...................................................................................116 亮度平衡電路..................................................................................116 搭建　LED 亮度平衡電路 ...................................................................................117 硫化鎘光敏電阻...............................................................................117 光敏電阻的購買　..............................................................................................117 測量光敏電阻的阻值變化范圍　............................................................................118 光控電路........................................................................................118 平衡亮度傳感電路............................................................................119 平衡光線傳感電路元件列表　...............................................................................120 平衡傳感對管　.................................................................................................120 光敏電阻的配對　..............................................................................................120 阻抗平衡電位器　..............................................................................................121 限流電阻　........................................................................................................121 測試點　...........................................................................................................122 用分壓器實現(xiàn)電阻和電壓的轉(zhuǎn)換　.........................................................................124 搭建亮度傳感平衡電路　.....................................................................................125 亮度傳感電路的平衡調(diào)整　..................................................................................125 第　15 章 比較器............................................................126 電壓比較器.....................................................................................126 認(rèn)識　LM393 ..................................................................................................126 比較器的購買　.................................................................................................129 亮度比較電路..................................................................................129 電路圖和接線圖的對比　.....................................................................................129 元件編號　........................................................................................................130 繪制連線和交叉線　...........................................................................................130 認(rèn)識亮度比較電路　...........................................................................................131 亮度比較電路的元件列表　..................................................................................131 搭建亮度比較電路　...........................................................................................131 增加光源........................................................................................134 認(rèn)識雙　LED 光源電路 ......................................................................................134 搭建光源電路　.................................................................................................135 再次使用多個　LED ..........................................................................................136 欣賞簡約之美..................................................................................137 第　16 章 晶體管開關(guān).......................................................　138 負(fù)電源的定義..................................................................................138 認(rèn)識　2907 晶體管 ...........................................................................................139 用萬用表測試雙極型晶體管.................................................................140 使用萬用表的晶體管測試功能　............................................................................140 使用萬用表的二極管測試檔　...............................................................................142 雙極型晶體管測試電路.......................................................................　143 PNP　型晶體管的測試電路圖 .............................................................................143 搭建　PNP 型晶體管測試電路 ............................................................................145 NPN　型晶體管的測試電路圖 .............................................................................146 搭建　NPN 型晶體管測試電路 ............................................................................147 帶有晶體管的亮度比較電路.................................................................147 計算晶體管的電流　...........................................................................................147 搭建帶有晶體管的亮度比較電路　.........................................................................149 PNP　型和 NPN 型晶體管的總結(jié)..........................................................150 直流電機(jī)的工作原理.........................................................................151 鐵芯永磁直流有刷電機(jī)的內(nèi)部結(jié)構(gòu)　.....................................................................151 第　17 章 直流電機(jī)..........................................................　151 帶有鐵芯的永磁直流無刷電機(jī)的內(nèi)部結(jié)構(gòu)　............................................................154 沒有鐵芯的永磁直流有刷電機(jī)　............................................................................155 簡易直流電機(jī)電路............................................................................156 簡易直流電機(jī)電路對電機(jī)的要求　.........................................................................156 簡易直流電機(jī)電路對電池的要求　.........................................................................156 搭建簡易電機(jī)電路　...........................................................................................157 直流電機(jī)的主要特性.........................................................................157 直流電機(jī)的轉(zhuǎn)速特性　........................................................................................158 直流電機(jī)的轉(zhuǎn)矩特性　........................................................................................160 直流電機(jī)的電壓特性　........................................................................................162 啟動電流　........................................................................................................164 空載電流　........................................................................................................165 載荷電流　........................................................................................................165 怠速電流　........................................................................................................165 直流電機(jī)的效率特性　........................................................................................166 直流電機(jī)的可聞噪聲　........................................................................................167 直流電機(jī)的電噪聲特性　.....................................................................................167 直流電機(jī)的重量　..............................................................................................168 直流電機(jī)的尺寸　..............................................................................................168 總結(jié)直流電機(jī)的特點　........................................................................................168 直流齒輪電機(jī)..................................................................................169 直流正齒輪電機(jī)的內(nèi)部結(jié)構(gòu)　...............................................................................169 認(rèn)識齒輪的比　.................................................................................................170 轉(zhuǎn)速和轉(zhuǎn)矩的轉(zhuǎn)化關(guān)系　.....................................................................................172 齒輪箱的缺點　.................................................................................................173 行星齒輪和正齒輪電機(jī)的區(qū)別　............................................................................173 怎么選擇齒輪減速電機(jī)　.....................................................................................173 繼續(xù)進(jìn)行........................................................................................174 選擇減速電機(jī)..................................................................................175 購買減速機(jī)電機(jī)　..............................................................................................175 第　18 章 安裝減速電機(jī).....................................................　175 齒輪減速電機(jī)的結(jié)構(gòu)　........................................................................................176 測量實際電流（平均值）　..................................................................................178 在亮度比較電路中加入電機(jī).................................................................178 認(rèn)識二極管　....................................................................................................179 給亮度比較電路安裝電機(jī)　..................................................................................180 電子部分大功告成............................................................................181 第　19 章 車輪...............................................................　182 車輪的構(gòu)造.....................................................................................182 機(jī)器人車輪的特點............................................................................182 充氣輪胎　........................................................................................................182 輪胎形狀　........................................................................................................183 輪胎寬度　........................................................................................................184 胎面花紋　........................................................................................................184 輪胎直徑　........................................................................................................185 選擇機(jī)器人車輪　..............................................................................................186 為　Sandwich 挑選車輪......................................................................　187 確定最小直徑和最大直徑　..................................................................................187 根據(jù)速度確定車輪的最大直徑　............................................................................188 我為　Sandwich 挑選的車輪 ..............................................................................189 Sandwich　車輪之外的選擇 ..............................................................................190 輪胎的清潔.....................................................................................191 輪式驅(qū)動........................................................................................192 供選方案........................................................................................193 第　21 章 軸連接器..........................................................　193 用金屬加工設(shè)備制作軸連接器　............................................................................194 打印版軸連接器　..............................................................................................194 管材..............................................................................................194 銅管和鋁管的選擇　...........................................................................................194 管材尺寸的測量和購買　.....................................................................................195 管材的測量和切割............................................................................196 切割管材　........................................................................................................196 切割后的打磨　.................................................................................................198 切割件的測試　.................................................................................................198 樂高十字軸.....................................................................................199 確定樂高十字軸的長度　.....................................................................................199 購買樂高十字軸　..............................................................................................200 車軸與軸連接器的粘合.......................................................................　200脫膠 ..............................................................................................................200 使用環(huán)氧樹脂　.................................................................................................201 給軸連接器增加一個固定螺絲..............................................................202 標(biāo)記固定螺絲孔　..............................................................................................202 鉆床　..............................................................................................................202 鉆床臺鉗　........................................................................................................203 鉆固定螺絲孔　.................................................................................................203 攻固定螺絲孔　.................................................................................................203 安裝螺絲釘　....................................................................................................203 軸連接器的使用感受.........................................................................204 焊錫..............................................................................................205 第　21 章 焊接設(shè)備..........................................................　205 助焊劑...........................................................................................206 電烙鐵...........................................................................................206 烙鐵架...........................................................................................207 焊接海綿........................................................................................207 輔助工具........................................................................................208 真空除錫工具..................................................................................209 典型焊接步驟..................................................................................209 準(zhǔn)備焊接........................................................................................210 電機(jī)和開關(guān)組件...............................................................................211 電機(jī)組件　........................................................................................................211 第　22 章 焊接連線..........................................................　211 組裝循線模式選擇開關(guān)　.....................................................................................220 組裝套管　LED 電路 .........................................................................................224 完成組裝　........................................................................................................225 焊接經(jīng)驗........................................................................................226 循線電路........................................................................................227 第　23 章 主控板............................................................227 調(diào)整優(yōu)化　........................................................................................................229 點對點焊接與印制電路板的比較　.........................................................................230 點對點焊接循線電路　........................................................................................231 用焊接助手輔助安放元件　..................................................................................231 布局實例　........................................................................................................232 購買　IC 插座 ...................................................................................................232 把　Molex KK 插座粘在電路板上 ........................................................................233 元件管腳的折彎　..............................................................................................234 焊接硫化鎘光敏電阻　........................................................................................236 測試機(jī)器人的電路............................................................................237 低電阻電路的危險性　........................................................................................237 檢查管腳漏焊　.................................................................................................237 檢查連接到正極總線的管腳　...............................................................................238 測量整個電路的電阻　........................................................................................238 測量電壓降　....................................................................................................239 焊點的補焊　....................................................................................................239 屏住呼吸........................................................................................240 構(gòu)思機(jī)器人的身體............................................................................241 運用概念式設(shè)計　..............................................................................................241 根據(jù)零件實物進(jìn)行設(shè)計　.....................................................................................241 第　24 章 結(jié)構(gòu)搭建..........................................................　241 設(shè)計個性化的身體　...........................................................................................242 改造　Sandwich 容器........................................................................244 加工電機(jī)孔　....................................................................................................244 安裝電機(jī)　........................................................................................................247 制作電機(jī)套管　.................................................................................................248 把電機(jī)裝入套管　..............................................................................................251 安裝開關(guān)和電池支架　........................................................................................251 安裝電源開關(guān)　.................................................................................................252 安裝電路板　....................................................................................................253 加工電位器調(diào)節(jié)孔　...........................................................................................255 在容器蓋子上磨出一個窗口　...............................................................................255 收尾工作　........................................................................................................256 準(zhǔn)備運行........................................................................................256 優(yōu)化調(diào)整........................................................................................257 初步檢查　........................................................................................................257 第　25 章 啟動循線機(jī)器人..................................................　257 試運行：跟隨一條直線　.....................................................................................260 糾正常見問題　.................................................................................................261 首次上路........................................................................................266 解決轉(zhuǎn)向問題　.................................................................................................266 循線機(jī)器人的改進(jìn)措施.......................................................................　267 防止電池反接　.................................................................................................267 用電容器消除浪涌電流　.....................................................................................268 提高循線性能　.................................................................................................269 完美謝幕........................................................................................270 第　26 章 更靈活、更輕巧、更便宜........................................　272 優(yōu)化傳感器電路...............................................................................272 降低光電傳感器的電阻　.....................................................................................273 直線行駛　........................................................................................................273 繼續(xù)修改或徹底更新？　.....................................................................................274 降低成本改善性能............................................................................274 縮小尺寸　........................................................................................................275 增加功能　........................................................................................................277 降低成本　........................................................................................................278 不斷提高........................................................................................279 第　27 章 增補內(nèi)容..........................................................　280 機(jī)器人的元件..................................................................................280 邏輯芯片　........................................................................................................280 微控制器　........................................................................................................281 電源穩(wěn)壓器　....................................................................................................282 電容器　...........................................................................................................283 太陽能電池　....................................................................................................284 網(wǎng)絡(luò)電阻　........................................................................................................285 按鈕　..............................................................................................................285 DIP　開關(guān) .......................................................................................................286 跳線和短路塊　.................................................................................................286 傾斜傳感器　....................................................................................................287 溫度傳感器　....................................................................................................287 觸摸傳感器　....................................................................................................288 目標(biāo)檢測與紅外遙控　........................................................................................288 距離檢測傳感器　..............................................................................................289 石英晶體振蕩器　..............................................................................................289 聲音　..............................................................................................................289 繼電器　...........................................................................................................290 附加齒輪　........................................................................................................290 舵機(jī)　..............................................................................................................291 編碼器——檢測車輪轉(zhuǎn)速　..................................................................................291 顯示器　...........................................................................................................292 無線數(shù)控　........................................................................................................292 日常挑戰(zhàn)........................................................................................293 室內(nèi)植物澆水機(jī)器人　........................................................................................293 堆肥車　...........................................................................................................293 垃圾車　...........................................................................................................293 洗窗機(jī)器人　....................................................................................................294 屋頂鼠　...........................................................................................................294 微型掃雪機(jī)　....................................................................................................294 壓路機(jī)　...........................................................................................................294 自動信報箱　....................................................................................................294 競賽..............................................................................................295 風(fēng)靡世界的機(jī)器人相撲　.....................................................................................295 三一學(xué)院的消防競賽　........................................................................................295 亞特蘭大機(jī)器人吸塵競賽　..................................................................................296 西雅圖機(jī)器人協(xié)會的　Robothon ........................................................................296 達(dá)拉斯個人機(jī)器人團(tuán)隊　Roborama ....................................................................296 伊利諾斯州中部機(jī)器人俱樂部　............................................................................296 芝加哥地區(qū)的機(jī)器人俱樂部（Chibots）　.............................................................297 無限可能性.....................................................................................297 附錄　A.........................................................................　298 神奇的歐姆定律...............................................................................298 用歐姆定律選擇限流電阻　..................................................................................299 通過電壓判斷電流　...........................................................................................299 歐姆定律的要點　..............................................................................................300 歐姆定律產(chǎn)生的效果　........................................................................................300 這本書的“戰(zhàn)損”............................................................................300 9V　電池該怎么安裝？ ......................................................................................301 開關(guān)燒融　........................................................................................................301 萬用表燒保險絲　..............................................................................................302 失敗不可避免　.................................................................................................302 電壓的叫法.....................................................................................302 地和負(fù)電壓的區(qū)別　...........................................................................................303 V　加雙字符 ....................................................................................................303 附錄　B.........................................................................　304 認(rèn)識　3D 打印..................................................................................304 容易實現(xiàn)　........................................................................................................305 顯著改善　........................................................................................................305 打印電機(jī)軸連接器............................................................................305 設(shè)計模型　........................................................................................................306 準(zhǔn)備打印　........................................................................................................307 3D　打印 .........................................................................................................307 完成后的軸連接器　...........................................................................................308 3D　打印版車輪................................................................................308 刷胎面膠　........................................................................................................309 復(fù)合式車輪　....................................................................................................309 設(shè)計機(jī)器人的身體............................................................................310 機(jī)蓋　..............................................................................................................311 嘗試自己動手..................................................................................311