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DC hobby motors can be applied to movement and locomotion (see Fig. 4.13). Specifications of most DC motors show high revolutions per minute (rpm) and low torque. Robotics need low rpm and high torque. Gearboxes can be attached to motors to increase their torque while reducing the rpm (see Fig. 4.14). The gearbox usually specifies a ratio that describes the rpm in to the rpm out. For instance, a DC motor with an rpm of 8000 is connected to a 1000:1 gearbox. What is the output rpm 8000 rpm/1000 8 rpm. The

torque of the motor is substantially increased. You could estimate that the torque will increase by the same value the rpm decreased. In reality, no conversion is 100 percent efficient; there always will be efficiency losses. Some DC motors, called gearhead motors, are built with a gearbox attached (see Fig. 4.15).

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When building a robot, one wants to control (turn on or off) the DC motor via a simple circuit or digital signal. In addition, one would also like to be able to reverse the motor s direction. An H-bridge fulfills these requirements. It should be understood that the term DC motor refers to standalone DC motors as well as motors connected to gearbox motors as well as gearhead motors. The H-bridge is made up of four transistors. [Some robotists use metal-oxide-semiconductor field-effect transistors (MOSFETs). I use NPN Darlington transistors.] Some H-bridge designers use a combination of PNP and NPN transistors. In each case, the transistor acts like a simple switch (see Fig. 4.16A). When switches SW1 and SW4 are closed (Fig. 4.16B), the motor rotates in one direction. When switches SW2 and SW3 are closed, the motor rotates in the opposite direction. By using the switches properly, we can reverse the current direction to the motor, which in turn reverses the motor s shaft rotation. Figure 4.17 is an H-bridge circuit that uses transistors. An H-bridge circuit is used in Chap. 5 in the sensor tester robot.

What Dunbar never envisioned was what happens in big companies. What advanced primates all have is called a reflex personal agenda. It goes like this: when faced with

The second device is a lever (see Figs. 16.13 and 16.14). The lever I made is constructed out of wood and plastic. Machine screws secure the air muscle and rubber bands to the lever arm. A wood screw through the plastic arm is the pivot. A second wood screw holds both the air muscle and rubber band. Operate this device using the three-way air valve as before. When activated, the lever moves up.

Computer control is easy. The computer operates an electric three-way air valve. An inexpensive three-way electrically operated solenoid air valve is available (see Fig. 16.15). This air valve operates at 5 volts DC (VDC) and is rated at 90 psi. This air valve has quick connect and disconnect air ports. The 5/32"-diameter stiff tubing is simply inserted into the port hole, and it locks in. To disconnect, hold and secure the port ring with your fingers into the air valve and tug the 5/32"-diameter air tubing out. To operate a single air valve, we only need one pin off the parallel (printer) port, along with a ground (see Fig. 16.16). The output pin is buffered with a gate off of a 4050HCT noninverting hex buffer. The output of the hex buffer turns a TIP 120 NPN Darlington transistor on or off. The transistor controls the current going to the air valve.

(12-230)

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