TAILIEUCHUNG - LEGO MINDSTORMS - Building Robots part 4

Tham khảo tài liệu 'lego mindstorms - building robots part 4', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 88 Chapter 5 Building Strategies RCXs motors and sensors are definitely not cheap so your best option is to install them in a way that makes them easy to remove without having to break your robot down into single parts. Note One good reason to make your RCX easily detachable is that you must be able to change batteries when necessary. The most common solution is to keep the RCX at the very top of your robot this way you can also easily access the push buttons and read the display. Loading the Structure Even the most minimal configuration of a mobile robot has to carry a load of about 300g 11 oz the weight of one RCX with batteries and two motors. Adding cables sensors and other structural parts can easily push you up to about 500g 18 oz . Should you worry about this mass Is its position relevant The first factor you need to consider is should take all possible precautions to minimize is especially true where the structure attaches to the wheels because it is there that you transfer all the weight to the wheels by way of the wheel acts as a lever the greater the distance from its support the greater the resulting force on the axle. Such forces tend to bend axles twist beams and produce plenty of friction between the axle and the beam itself. For this reason it s important you keep your wheel as close as possible to its supporting beam. Figure shows three examples a being the worst case with c the best. Figure Keep a Wheel as Close as Possible to Its Supporting Beam Building Strategies Chapter 5 89 We suggest you also support the load-bearing axles with more than a single beam whenever three examples shown in Figure are better than those in Figure with being the best among all the solutions shown so use of two supports one on either side of the wheel like on a bicycle avoids any lever-effect created by the axle on the support thus reducing the friction to a minimum. Figure .

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