机器人制作初学指南（第3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.....................................................

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.....................................................

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.......................................................................

...............................................................................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 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...................................................................

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...............................................................

21 章 焊接设备..........................................................

205 助焊剂...........................................................................................206 电烙铁...........................................................................................206 烙铁架....................................................

........................................................................................................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...............................................

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 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 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