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The next task will be to coordinate the movement of each of the snake s body segments to achieve locomotion To produce a forward movement, our snake will move its body in a sine wave pattern vertically, with a slight side to side movement of the horizontal segments The use of servos makes this sort of programming

bend, making it ideal for the hobbyist experimenter I buy all of my metal from a company called The Metal Supermarket (wwwmetalsupermarketscom) because its prices are much lower than buying metal at a hardware store Their friendly staff is always helpful, and will cut the stock to whatever size you require I usually ask them to cut the raw stock in half so that it will fit into the back seat of my car The fifth type of stock that will be needed is 3/4-inch angle aluminum 3/4-inch

University of Houston (BArch, MArch) Gerald D Hines College of Architecture Houston, TX 77204 wwwarchuhedu University of Texas at Arlington (MArch) School of Architecture Box 19108 Arlington, TX 76019 wwwutaedu/architecture University of Texas at Austin (BArch, MArch) School of Architecture 1 University Station B7500 Austin, TX 78712 http://soautexasedu/

The fasteners that will be used are 6/32-inch diameter machine screws, nuts, lock washers, locking nuts, and nylon washers, as shown in Figure 120 Three different lengths of machine screws will be used: 1-inch, 3/4-inch, and 1/2-inch

Summary

Utah University of Utah (MArch) Graduate School of Architecture 375 S 1530 E Room 235 Salt Lake City, UT 84112 archutahedu

Rogers says he stresses enjoyment, and this means attracting the kinds of enthusiasts who have a great time together and love the show racing teams deliver We want all our fans to have fun and come back

Now that all the tools, test equipment, and materials necessary to build robots have been covered, you should have a good idea about what will be necessary to build the robots in this book In the next chapter, the fabrication of printed circuit boards will be discussed so that you can make your own professional-looking boards

Four robot projects are in this book Each robot will require a controller and sensor circuit boards The most efficient way of implementing the circuit designs is to create printed circuit boards (PCBs) The great thing about each project is that the finished PCB artwork is included, along with a parts placement diagram All of the circuit boards and robots in this book have been built and tested to ensure that they function as described If you decide not to fabricate PCBs, most of the circuits are simple enough to construct on standard perforated circuit board (holes spaces 010-inch on centers) using point-to-point wiring if you wish I don t recommend this method because one misplaced or omitted wire can cause hours of frustration The easiest way to produce quality PCBs is by using the positive photo fabrication process To fabricate the PCBs for each robot project, photocopy the PCB artwork onto a transparency Make sure that the photocopy is the exact size of the original For convenience, you can download the artwork files for each robot project from the Thinkbotics Web site, located at wwwthinkboticscom, and print the file onto a transparency using a laser or ink-jet printer with a minimum resolution of 600 dpi Figure 21 shows the artwork for a

circuit board that has been printed onto transparency film using an ink-jet printer After successfully transferring the artwork to a transparency, the following instructions can be used to create a board A 4- 6-inch presensitized positive copper board is ideal for all of the projects presented in this book When you place the transparency on the copper board, it should be oriented exactly as shown in each chapter Make any sensor boards that go with the particular project at the same time A company that specializes in providing presensitized copper boards and all the chemistry needed to fabricate boards is MG Chemicals Information on how to obtain all of the supplies can be found on its Web site: wwwmgchemicalscom Figure 22 shows the developer, ferric chloride, and presensitized copper board that will be used for fabricating the circuit boards

University of Virginia (MArch) School of Architecture Campbell Hall Charlottesville, VA 22903 virginiaedu Virginia Polytechnic Institute and State University (BArch, MArch) College of Architecture and Urban Studies Blacksburg, VA 24061 wwwarchvtedu