tailieunhanh - Anatomy of a Robot Part 9

Tham khảo tài liệu 'anatomy of a robot part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | This page intentionally left blank. DESIGN STEPS HLD Nobody really has a clear documented record of the thinking that went into the design of a robot so we ll try to document the series of steps and thoughts in a logical sequence. Others would go about this in a different way but it makes sense to give a good solid example of how things might be done during the design phase. Certainly we should go about writing specifications for the project just as recommended in Chapter 1. But let s suppose we already have a specification written. It makes sense to take a deep breath at the beginning of the project and just define what success will mean. With that done and a reading of the specs it s time to start the high-level design HLD . Power Any robot design should start with a thorough analysis of the power requirements. We ll discuss power in a separate chapter so let s just mention it now in passing. Unless the power source is sufficient to match the requirements the robot cannot operate properly. 147 Copyright 2003 by The McGraw-Hill Companies Inc. Click Here for Terms of Use. 148 CHAPTER FIVE To look at the power we ll need to look at weight required activities locomotion methods operation time energy storage schemes automation communications and refueling recharging . Locomotion We ll get into the mechanics of the robot in another chapter but we should mention it now. We ll need to look at the mechanics needed to move the robot the power needed to affect movement the required speeds and the requirement for reliability. We will need to look at the degrees of freedom required. We can think of degrees of freedom almost like joints in a human limb. The robot will have to bend various directions and must have separate control over each axis. With the requirements for movement and power estimates in hand we have all the basics roughed out. We know how heavy the robot is how much it will have to move and what sort of power source we will use. This part of the HLD is akin to