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Used compact discs (CDs). CDs, made from polycarbonate plastics, are usually just thrown away and not recycled. With careful drilling and cutting, you can adapt them to serve as body parts and even wheels for your robots. Exercise caution when working with CDs: they can shatter when you drill and cut them, and the pieces are very sharp and dangerous. Old phonograph records. Found in the local thrift store, records particularly the thicker 78-r/min variety can be used in much the same way as CDs and laser discs. The older records made from the 1930s through 1950s used a thicker plastic that is very heavy and durable. Thrift stores are your best bet for old records no one wants anymore (who is that Montovani guy, anyway ). Note that some old records, like the V-Discs made during World War II, are collector s items, so don t wantonly destroy a record unless you re sure it has no value. Salad bowls, serving bowls, and plastic knickknacks. They can all be revived as robot parts. I regularly prowl garage sales and thrift stores looking for such plastic material. PVC irrigation pipe. This can be used to construct the frame of a robot. Use the short lengths of pipe left over from a weekend project. You can secure the pieces with glue or hardware or use PVC connector pieces (Ts, Ls, etc.). Old toys. Not only for structural materials but you can often find a selection of motors, gears, and driver circuitry that can be salvaged and used in your robot projects.

You can use a small piece of scrap sheet acrylic to build the foundation and frame of the Minibot differentially driven robot. The robot is about 6 in2 and scoots around the floor or table on two small rubber tires. The basic version is meant to be wire-controlled, although in upcoming chapters you ll see how to adapt the Minibot to automatic electronic control,

Minibot Parts List 6-in-by-6-in acrylic plastic (1 16- or 1 8-in thick) Small hobby motors with gear reduction Model airplane wheels 31 2-in (approx.) 10 24 all-thread rod 6-in-diameter (approx.) clear plastic dome Four-cell AA battery holder 2-in-by-8 32 bolts, 8 32 nuts, lock washers, 1 2-in-by-10 24 bolts, 10 24 nuts, lock washers, cap nuts

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A six-tracked layout consisting of two main tracks and two sets of flipper tracks and each end The six-track layout may be overkill because there is a patented track layout that has truly impressive mobility that has four tracks and uses only three actuators Robots are slowly coming into common use in the home and one tough requirement in the otherwise benign indoor environment is climbing stairs It is just plain difficult to climb stairs with any rolling drive system, even one with tracks Tracks simplify the problem somewhat and can climb stairs more smoothly than wheeled drivetrains, allowing higher speeds, but they have difficulty staying aligned with the stairs They can quickly become tilted over, requiring steering corrections that are tricky even for a human operator At the time of this writing there is no known autonomous vehicle that can climb a full flight of stairs without human input.

Fig. 10-17.

even remote control. The power source is a set of four AA flashlight batteries because they are small, lightweight, and provide more driving power than 9-V transistor batteries. The parts list for the Minibot can be found in Tables 8-3 and 8-4.

The foundation is clear or colored Plexiglas or some similar acrylic sheet plastic. The thickness should be at least 1 8 in, but avoid very thick plastic because of its heavy weight. The prototype Minibot used 1 8-in-thick acrylic, so there was minimum stress caused by bending or flexing. Cut the plastic as shown in Fig. 8-2. Remember to keep the protective paper cover on the plastic while you cut. File or sand the edges to smooth the cutting and scoring marks. The corners are sharp and can cause injury if the robot is handled by small children. You can easily fix this by rounding off the corners with a file. Find the center and drill a hole with a #10 bit. Fig. 8-2 also shows the holes for mounting the drive motors. These holes are spaced for a simple clamp mechanism that secures hobby motors commonly available on the market.

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