Amphibionics

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Amphibionics
Build Your Own Biologically Inspired Robot

Karl Williams

McGraw-Hill
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Copyright © 2003 by The McGraw-Hill Companies, Inc. All rights reserved. Manufactured in the United States of America. Except as permitted under the United States Copyright Act of 1976, no part of this publication may be reproduced or distributed in any form or by any means, or stored in a database or retrieval system, without the prior written permission of the publisher. 0-07-142921-2 The material in this eBook also appears in the print version of this title: …ver más…

Contents

Introduction Acknowledgments

xv xvii

1

Tools, Test Equipment, and Materials
Test Equipment Construction Materials Summary

1
10 12 15

2

Printed Circuit Board Fabrication
Summary

17
22

3

Microcontrollers and PIC Programming
Microcontrollers PIC 16F84 MCU PicBasic Pro Compiler

25
25 26 28 ix Copyright 2003 by The McGraw-Hill Companies, Inc. Click Here for Terms of Use.

Amphibionics

Software Installation Compiling a Program Using the EPIC Programmer to Program the PIC Testing the Controller Board MicroCode Studio Visual Integrated Development Environment Using a Programmer with MicroCode Studio MicroCode Studio in Circuit Debugger Summary

31 35 40 44

45 47 48 49

4

Frogbotic: Build Your Own Robotic Frog 51
Frogs and Toads Overview of the Frogbotic Project R/C Servo Motors Modifying Servos for Continuous Rotation Controlling a Modified Servo Mechanical Construction of Frogbotic Assembling the Legs Attaching the Legs to the Robot’s Body Fabricating the Servo Mounts Constructing the Front Legs Leg Position Sensors Wiring the Limit Switches 51 52 54 55 66 68 77 82 84 90 91 91

x

Contents

Frogbotic’s Main Controller Board Creating Frogbotic’s Printed Circuit Board Fabricating the Power Connector Putting It All Together Programming and Experiments with Frogbotic

94 96 98 100