机器人制作初学指南（第3版）

　　本书是为零基础的读者打造的机器人制作入门指南，着重讲述电池供电机器人的制作过程和相关知识，图文并茂，内容详细。阅读本书不要求你有正规工科知识背景，只要你对科学有兴趣，喜欢制作机器人，那么通过这本书循序渐进的讲解，就能制作出很棒的作品。

　　大卫-库克是一个人气很高的网站RobotRoom.com的拥有者，和各位读者分享其制作机器人的经验已有十余年的时间。他的两本机器人书籍由Apress出版。

第 1 章　欢迎机器人发明家.....................................................1 四门学科...........................................................................................　1 什么是自制机器人...............................................................................1 大脑　..................................................................................................................2 电源　..................................................................................................................3 传感器　...............................................................................................................4 动作和反馈　........................................................................................................5 电机控制器　........................................................................................................5 其他元件　............................................................................................................6 身体　..................................................................................................................6 搭建.................................................................................................　7 循序渐进　............................................................................................................7 制作模块　............................................................................................................7 乐趣第一，不怕失败　............................................................................................7 寻找同好，获得帮助　............................................................................................8 不断进取...........................................................................................　8 第　2 章 如何购买材料和工具................................................10 获取免费信息...................................................................................　10 发现有价值信息................................................................................　11 善用对比　..........................................................................................................11 零件统计　..........................................................................................................11 比较价格　..........................................................................................................12 怎么省钱.........................................................................................　12 第　3 章 安全常识.............................................................14 年龄和经验的重要性..........................................................................　14 详细说明.........................................................................................　14 会看化学品标签　................................................................................................15 佩戴护目镜......................................................................................　15 保管护目镜的方法　.............................................................................................15 穿着安全服......................................................................................　15 确保通风良好...................................................................................　16 正确储存.........................................................................................　16 让周围的人了解你的工作　....................................................................................16 饭前洗手.........................................................................................　16 远离有害元素...................................................................................　16 铅　...................................................................................................................17 水银　................................................................................................................17 镉　...................................................................................................................18 购买带有　RoHS 标志的安全产品 .........................................................................18 电击...............................................................................................　18 AC　和 DC 的区别 ..............................................................................................18 使用可充电电池和专用变压器　..............................................................................19 使用空气开关和带漏电保护的插座　.......................................................................19 保留地线　..........................................................................................................20 不带电工作　......................................................................................................20 不要制作危险的机器人........................................................................　20 控制好电机尺寸................................................................................　21 照明...............................................................................................　21 注意休息做好计划.............................................................................　21 第　4 章 数字万用表...........................................................　22 必备功能.........................................................................................　22 数字显示　..........................................................................................................22 位数　................................................................................................................23 DC　电压 ..........................................................................................................23 DC　电流 ..........................................................................................................23 电阻　................................................................................................................23 表笔或探针　......................................................................................................23 过载　/ 熔丝保护 .................................................................................................24 附加功能.........................................................................................　24 电容　................................................................................................................24 二极管　.............................................................................................................24 连通性　.............................................................................................................24 频率　................................................................................................................24 占空比　.............................................................................................................25 自动量程　..........................................................................................................25 自动关机　..........................................................................................................25 晶体管　.............................................................................................................25 双显　................................................................................................................26 最大值　.............................................................................................................26 最小值　.............................................................................................................26 支架　................................................................................................................26 可选功能.........................................................................................　26 电感　................................................................................................................26 数据接口　..........................................................................................................27 示波器　.............................................................................................................27 背光　................................................................................................................27 秒表　/ 单脉冲宽度 ..............................................................................................27 温度　................................................................................................................27 声音　................................................................................................................28 计数器　.............................................................................................................28 条形图　.............................................................................................................28 数据保持　..........................................................................................................28 数据自动　..........................................................................................................28 高/低/逻辑　.....................................................................................................28 记忆　................................................................................................................29 相对　................................................................................................................29 偏差　................................................................................................................29 限定测试　/ 比较 .................................................................................................29 皮套或橡胶套　...................................................................................................29 AC　功能..........................................................................................　29 AC　电压 ..........................................................................................................29 真有效值　..........................................................................................................30 AC　电流 ..........................................................................................................30 购买挂钩探针　...................................................................................................30 万用表对比参考................................................................................　30 了解低端万用表的功能　.......................................................................................31 了解中档万用表的功能　.......................................................................................32 了解高档万用表的功能　.......................................................................................33 功能和价格的对比　.............................................................................................34 尝试其他的万用表　.............................................................................................34 先准备好万用表再工作........................................................................　34 选择度量衡......................................................................................　35 千进制计数法...................................................................................　35 第　5 章 计量单位.............................................................35 大M和小m　.....................................................................................................36 希腊字母　μ 的替换 ............................................................................................37 单位缩写.........................................................................................　37 信息有限怎么办................................................................................　38 判断单位　..........................................................................................................38 扩展第三位　......................................................................................................38 颜色和数字的转换　.............................................................................................39 用万用表测量元件值　..........................................................................................40 基础知识总结...................................................................................　40 明确试验环境...................................................................................　41 路面材质　..........................................................................................................41 第　9 章 循线机器人...........................................................　41 光照条件　..........................................................................................................42 确定路线　..........................................................................................................42 弧线和交叉线　...................................................................................................43 试验环境的总体要求　..........................................................................................44 确定机器人的尺寸.............................................................................　44 认识　Sandwich................................................................................　44 Sandwich　的结构 .............................................................................................45 循线开关　..........................................................................................................45 Sandwich　的身体 .............................................................................................49 购买套件.........................................................................................　50 搭建...............................................................................................　50 测量电池电压...................................................................................　51 设置万用表的电压测量档　....................................................................................51 第　7 章 9V 电池..............................................................51 分析测量结果　...................................................................................................52 9V　电池的特性.................................................................................　53 9V　电池推荐....................................................................................　54 推荐　................................................................................................................54 不建议使用的电池　.............................................................................................56 电池品牌.........................................................................................　57 给机器人用上　9V 电池........................................................................　58 安装电池　..........................................................................................................58 继续前进.........................................................................................　59 第　8 章 鳄鱼夹子和探针......................................................　60 鳄鱼夹子.........................................................................................　60 购买钩夹.........................................................................................　60 跳线的测试......................................................................................　61 万用表的连通性测试档　.......................................................................................61 开路测试　..........................................................................................................62 短路测试　..........................................................................................................63 测试鳄鱼夹子跳线（短路）　.................................................................................63 查找无效连接...................................................................................　64 跳线连接.........................................................................................　64 用电阻限制功耗................................................................................　65 购买电阻包......................................................................................　65 第　9 章 电阻...................................................................　65 熟悉电阻的大小和误差........................................................................　66 剪脚...............................................................................................　66 购买剪线工具　...................................................................................................67 电阻和欧姆......................................................................................　67 测量电阻.........................................................................................　68 查看万用表上显示的阻值　....................................................................................68 体验阻值范围　...................................................................................................69 在线查找电阻值................................................................................　69 标记和储存......................................................................................　70 购买元件收纳盒　................................................................................................70 不要操之过急...................................................................................　71 第　10 章 LED................................................................72 了解　LED 的特性..............................................................................　72 LED　的尺寸 .....................................................................................................72 LED　的形状 .....................................................................................................73 LED　的镜头透明度 ............................................................................................74 LED　的可视角 ..................................................................................................74 LED　的颜色 .....................................................................................................75 LED　的亮度 .....................................................................................................76 LED　的效率 .....................................................................................................76 超近距离观察　LED............................................................................　77 认识多色　LED..................................................................................　78 双色　LED ........................................................................................................78 三色或三态　LED ...............................................................................................78 全彩　LED ........................................................................................................78 测试　LED........................................................................................　79 设定万用表的二极管模式　....................................................................................79 分析　LED 测试结果 ...........................................................................................79 元件混装包......................................................................................　81 点灯上路.........................................................................................　82 搭建和测试电源指示电路　....................................................................................83 什么是元件列表................................................................................　83 第　11 章 供电.................................................................83 查看电路图　......................................................................................................84 电源指示电路...................................................................................　84 看见亮光了吗？　................................................................................................85 测试电源指示电路　.............................................................................................85 熟悉每个元件的功能..........................................................................　86 测量电源指示电路.............................................................................　86 测量在线电压　...................................................................................................86 测量电流　..........................................................................................................89 计算电池寿命　...................................................................................................90 不要把表笔插在电流端子上测量电压　....................................................................92 电路总结.........................................................................................　93 第　12 章 免焊测试............................................................94 寻求一种更好的方法..........................................................................　94 免焊面包板......................................................................................　94 用插孔实现连接　................................................................................................95 接线柱　.............................................................................................................97 怎么挑选面包板　................................................................................................98 免焊面包板的配套连线........................................................................　99 跳线的选择　....................................................................................................100 自制跳线........................................................................................101 剥去导线两端的绝缘外皮　..................................................................................102 按长度切割导线　..............................................................................................102 弯曲导线末端　.................................................................................................102 建立连接........................................................................................104 电源的设计.....................................................................................105 购买　9V 电池连接器 ........................................................................................105 把电源连接到接线柱　........................................................................................106 第　13 章 设置免焊电路板..................................................　105 挑选电源开关..................................................................................106 SPDT　的含义 .................................................................................................107 把开关安装到面包板　........................................................................................107 连接电源总线..................................................................................108 用跳线扩展万用表表笔功能　...............................................................................108 连接下方总线　.................................................................................................109 跨接中间的断点　..............................................................................................109 安装　LED 电源指示器........................................................................　109 测量接点电压　.................................................................................................110 元件剪脚　........................................................................................................110 机器人的电源开关............................................................................110 准备向下进行..................................................................................111 第　14 章 可变电阻..........................................................　112 电位器...........................................................................................112 微调电位器　....................................................................................................112 调节度盘　........................................................................................................113 电位器的购买　.................................................................................................113 电位器的测量　.................................................................................................114 LED　亮度调节电路...........................................................................115 搭建　LED 亮度调节电路 ...................................................................................116 亮度平衡电路..................................................................................116 搭建　LED 亮度平衡电路 ...................................................................................117 硫化镉光敏电阻...............................................................................117 光敏电阻的购买　..............................................................................................117 测量光敏电阻的阻值变化范围　............................................................................118 光控电路........................................................................................118 平衡亮度传感电路............................................................................119 平衡光线传感电路元件列表　...............................................................................120 平衡传感对管　.................................................................................................120 光敏电阻的配对　..............................................................................................120 阻抗平衡电位器　..............................................................................................121 限流电阻　........................................................................................................121 测试点　...........................................................................................................122 用分压器实现电阻和电压的转换　.........................................................................124 搭建亮度传感平衡电路　.....................................................................................125 亮度传感电路的平衡调整　..................................................................................125 第　15 章 比较器............................................................126 电压比较器.....................................................................................126 认识　LM393 ..................................................................................................126 比较器的购买　.................................................................................................129 亮度比较电路..................................................................................129 电路图和接线图的对比　.....................................................................................129 元件编号　........................................................................................................130 绘制连线和交叉线　...........................................................................................130 认识亮度比较电路　...........................................................................................131 亮度比较电路的元件列表　..................................................................................131 搭建亮度比较电路　...........................................................................................131 增加光源........................................................................................134 认识双　LED 光源电路 ......................................................................................134 搭建光源电路　.................................................................................................135 再次使用多个　LED ..........................................................................................136 欣赏简约之美..................................................................................137 第　16 章 晶体管开关.......................................................　138 负电源的定义..................................................................................138 认识　2907 晶体管 ...........................................................................................139 用万用表测试双极型晶体管.................................................................140 使用万用表的晶体管测试功能　............................................................................140 使用万用表的二极管测试档　...............................................................................142 双极型晶体管测试电路.......................................................................　143 PNP　型晶体管的测试电路图 .............................................................................143 搭建　PNP 型晶体管测试电路 ............................................................................145 NPN　型晶体管的测试电路图 .............................................................................146 搭建　NPN 型晶体管测试电路 ............................................................................147 带有晶体管的亮度比较电路.................................................................147 计算晶体管的电流　...........................................................................................147 搭建带有晶体管的亮度比较电路　.........................................................................149 PNP　型和 NPN 型晶体管的总结..........................................................150 直流电机的工作原理.........................................................................151 铁芯永磁直流有刷电机的内部结构　.....................................................................151 第　17 章 直流电机..........................................................　151 带有铁芯的永磁直流无刷电机的内部结构　............................................................154 没有铁芯的永磁直流有刷电机　............................................................................155 简易直流电机电路............................................................................156 简易直流电机电路对电机的要求　.........................................................................156 简易直流电机电路对电池的要求　.........................................................................156 搭建简易电机电路　...........................................................................................157 直流电机的主要特性.........................................................................157 直流电机的转速特性　........................................................................................158 直流电机的转矩特性　........................................................................................160 直流电机的电压特性　........................................................................................162 启动电流　........................................................................................................164 空载电流　........................................................................................................165 载荷电流　........................................................................................................165 怠速电流　........................................................................................................165 直流电机的效率特性　........................................................................................166 直流电机的可闻噪声　........................................................................................167 直流电机的电噪声特性　.....................................................................................167 直流电机的重量　..............................................................................................168 直流电机的尺寸　..............................................................................................168 总结直流电机的特点　........................................................................................168 直流齿轮电机..................................................................................169 直流正齿轮电机的内部结构　...............................................................................169 认识齿轮的比　.................................................................................................170 转速和转矩的转化关系　.....................................................................................172 齿轮箱的缺点　.................................................................................................173 行星齿轮和正齿轮电机的区别　............................................................................173 怎么选择齿轮减速电机　.....................................................................................173 继续进行........................................................................................174 选择减速电机..................................................................................175 购买减速机电机　..............................................................................................175 第　18 章 安装减速电机.....................................................　175 齿轮减速电机的结构　........................................................................................176 测量实际电流（平均值）　..................................................................................178 在亮度比较电路中加入电机.................................................................178 认识二极管　....................................................................................................179 给亮度比较电路安装电机　..................................................................................180 电子部分大功告成............................................................................181 第　19 章 车轮...............................................................　182 车轮的构造.....................................................................................182 机器人车轮的特点............................................................................182 充气轮胎　........................................................................................................182 轮胎形状　........................................................................................................183 轮胎宽度　........................................................................................................184 胎面花纹　........................................................................................................184 轮胎直径　........................................................................................................185 选择机器人车轮　..............................................................................................186 为　Sandwich 挑选车轮......................................................................　187 确定最小直径和最大直径　..................................................................................187 根据速度确定车轮的最大直径　............................................................................188 我为　Sandwich 挑选的车轮 ..............................................................................189 Sandwich　车轮之外的选择 ..............................................................................190 轮胎的清洁.....................................................................................191 轮式驱动........................................................................................192 供选方案........................................................................................193 第　21 章 轴连接器..........................................................　193 用金属加工设备制作轴连接器　............................................................................194 打印版轴连接器　..............................................................................................194 管材..............................................................................................194 铜管和铝管的选择　...........................................................................................194 管材尺寸的测量和购买　.....................................................................................195 管材的测量和切割............................................................................196 切割管材　........................................................................................................196 切割后的打磨　.................................................................................................198 切割件的测试　.................................................................................................198 乐高十字轴.....................................................................................199 确定乐高十字轴的长度　.....................................................................................199 购买乐高十字轴　..............................................................................................200 车轴与轴连接器的粘合.......................................................................　200脱胶 ..............................................................................................................200 使用环氧树脂　.................................................................................................201 给轴连接器增加一个固定螺丝..............................................................202 标记固定螺丝孔　..............................................................................................202 钻床　..............................................................................................................202 钻床台钳　........................................................................................................203 钻固定螺丝孔　.................................................................................................203 攻固定螺丝孔　.................................................................................................203 安装螺丝钉　....................................................................................................203 轴连接器的使用感受.........................................................................204 焊锡..............................................................................................205 第　21 章 焊接设备..........................................................　205 助焊剂...........................................................................................206 电烙铁...........................................................................................206 烙铁架...........................................................................................207 焊接海绵........................................................................................207 辅助工具........................................................................................208 真空除锡工具..................................................................................209 典型焊接步骤..................................................................................209 准备焊接........................................................................................210 电机和开关组件...............................................................................211 电机组件　........................................................................................................211 第　22 章 焊接连线..........................................................　211 组装循线模式选择开关　.....................................................................................220 组装套管　LED 电路 .........................................................................................224 完成组装　........................................................................................................225 焊接经验........................................................................................226 循线电路........................................................................................227 第　23 章 主控板............................................................227 调整优化　........................................................................................................229 点对点焊接与印制电路板的比较　.........................................................................230 点对点焊接循线电路　........................................................................................231 用焊接助手辅助安放元件　..................................................................................231 布局实例　........................................................................................................232 购买　IC 插座 ...................................................................................................232 把　Molex KK 插座粘在电路板上 ........................................................................233 元件管脚的折弯　..............................................................................................234 焊接硫化镉光敏电阻　........................................................................................236 测试机器人的电路............................................................................237 低电阻电路的危险性　........................................................................................237 检查管脚漏焊　.................................................................................................237 检查连接到正极总线的管脚　...............................................................................238 测量整个电路的电阻　........................................................................................238 测量电压降　....................................................................................................239 焊点的补焊　....................................................................................................239 屏住呼吸........................................................................................240 构思机器人的身体............................................................................241 运用概念式设计　..............................................................................................241 根据零件实物进行设计　.....................................................................................241 第　24 章 结构搭建..........................................................　241 设计个性化的身体　...........................................................................................242 改造　Sandwich 容器........................................................................244 加工电机孔　....................................................................................................244 安装电机　........................................................................................................247 制作电机套管　.................................................................................................248 把电机装入套管　..............................................................................................251 安装开关和电池支架　........................................................................................251 安装电源开关　.................................................................................................252 安装电路板　....................................................................................................253 加工电位器调节孔　...........................................................................................255 在容器盖子上磨出一个窗口　...............................................................................255 收尾工作　........................................................................................................256 准备运行........................................................................................256 优化调整........................................................................................257 初步检查　........................................................................................................257 第　25 章 启动循线机器人..................................................　257 试运行：跟随一条直线　.....................................................................................260 纠正常见问题　.................................................................................................261 首次上路........................................................................................266 解决转向问题　.................................................................................................266 循线机器人的改进措施.......................................................................　267 防止电池反接　.................................................................................................267 用电容器消除浪涌电流　.....................................................................................268 提高循线性能　.................................................................................................269 完美谢幕........................................................................................270 第　26 章 更灵活、更轻巧、更便宜........................................　272 优化传感器电路...............................................................................272 降低光电传感器的电阻　.....................................................................................273 直线行驶　........................................................................................................273 继续修改或彻底更新？　.....................................................................................274 降低成本改善性能............................................................................274 缩小尺寸　........................................................................................................275 增加功能　........................................................................................................277 降低成本　........................................................................................................278 不断提高........................................................................................279 第　27 章 增补内容..........................................................　280 机器人的元件..................................................................................280 逻辑芯片　........................................................................................................280 微控制器　........................................................................................................281 电源稳压器　....................................................................................................282 电容器　...........................................................................................................283 太阳能电池　....................................................................................................284 网络电阻　........................................................................................................285 按钮　..............................................................................................................285 DIP　开关 .......................................................................................................286 跳线和短路块　.................................................................................................286 倾斜传感器　....................................................................................................287 温度传感器　....................................................................................................287 触摸传感器　....................................................................................................288 目标检测与红外遥控　........................................................................................288 距离检测传感器　..............................................................................................289 石英晶体振荡器　..............................................................................................289 声音　..............................................................................................................289 继电器　...........................................................................................................290 附加齿轮　........................................................................................................290 舵机　..............................................................................................................291 编码器——检测车轮转速　..................................................................................291 显示器　...........................................................................................................292 无线数控　........................................................................................................292 日常挑战........................................................................................293 室内植物浇水机器人　........................................................................................293 堆肥车　...........................................................................................................293 垃圾车　...........................................................................................................293 洗窗机器人　....................................................................................................294 屋顶鼠　...........................................................................................................294 微型扫雪机　....................................................................................................294 压路机　...........................................................................................................294 自动信报箱　....................................................................................................294 竞赛..............................................................................................295 风靡世界的机器人相扑　.....................................................................................295 三一学院的消防竞赛　........................................................................................295 亚特兰大机器人吸尘竞赛　..................................................................................296 西雅图机器人协会的　Robothon ........................................................................296 达拉斯个人机器人团队　Roborama ....................................................................296 伊利诺斯州中部机器人俱乐部　............................................................................296 芝加哥地区的机器人俱乐部（Chibots）　.............................................................297 无限可能性.....................................................................................297 附录　A.........................................................................　298 神奇的欧姆定律...............................................................................298 用欧姆定律选择限流电阻　..................................................................................299 通过电压判断电流　...........................................................................................299 欧姆定律的要点　..............................................................................................300 欧姆定律产生的效果　........................................................................................300 这本书的“战损”............................................................................300 9V　电池该怎么安装？ ......................................................................................301 开关烧融　........................................................................................................301 万用表烧保险丝　..............................................................................................302 失败不可避免　.................................................................................................302 电压的叫法.....................................................................................302 地和负电压的区别　...........................................................................................303 V　加双字符 ....................................................................................................303 附录　B.........................................................................　304 认识　3D 打印..................................................................................304 容易实现　........................................................................................................305 显著改善　........................................................................................................305 打印电机轴连接器............................................................................305 设计模型　........................................................................................................306 准备打印　........................................................................................................307 3D　打印 .........................................................................................................307 完成后的轴连接器　...........................................................................................308 3D　打印版车轮................................................................................308 刷胎面胶　........................................................................................................309 复合式车轮　....................................................................................................309 设计机器人的身体............................................................................310 机盖　..............................................................................................................311 尝试自己动手..................................................................................311