機器人製作初學指南(第三版)（簡體書）
商品資訊
系列名：愛上機器人
ISBN13：9787115451590
替代書名：Robot Building for Beginners （Third Edition)
出版社：人民郵電出版社
作者：(美)大衛.庫克
譯者：臧海波
出版日：2017/06/01
裝訂／頁數：平裝／311頁
規格：23.5cm*16.8cm (高/寬)
版次：一版
商品簡介
本書是為零基礎的讀者打造的機器人製作入門指南，著重講述電池供電機器人的製作過程和相關知識，圖文並茂，內容詳細。閱讀本書不要求你有正規工科知識背景，只要你對科學有興趣，喜歡製作機器人，那麼通過這本書循序漸進的講解，就能製作出很棒的作品。
作者簡介
大衛-庫克是一個人氣很高的網站RobotRoom.com的擁有者，和各位讀者分享其製作機器人的經驗已有十餘年的時間。他的兩本機器人書籍由Apress出版。
目次
第 1 章 歡迎機器人發明家.....................................................1
四門學科........................................................................................... 1
什麼是自製機器人...............................................................................1
大腦 ..................................................................................................................2
電源 ..................................................................................................................3
感測器 ...............................................................................................................4
動作和反饋 ........................................................................................................5
電機控制器 ........................................................................................................5
其他元件 ............................................................................................................6
身體 ..................................................................................................................6
搭建................................................................................................. 7
循序漸進 ............................................................................................................7
製作模組 ............................................................................................................7
樂趣第一，不怕失敗 ............................................................................................7
尋找同好，獲得幫助 ............................................................................................8
不斷進取........................................................................................... 8
第 2 章 如何購買材料和工具................................................10
獲取免費資訊................................................................................... 10
發現有價值資訊................................................................................ 11
善用對比 ..........................................................................................................11
零件統計 ..........................................................................................................11
比較價格 ..........................................................................................................12
怎麼省錢......................................................................................... 12
第 3 章 安全常識.............................................................14
年齡和經驗的重要性.......................................................................... 14
詳細說明......................................................................................... 14
會看化學品標籤 ................................................................................................15
佩戴護目鏡...................................................................................... 15
保管護目鏡的方法 .............................................................................................15
穿著安全服...................................................................................... 15
確保通風良好................................................................................... 16
正確儲存......................................................................................... 16
讓周圍的人瞭解你的工作 ....................................................................................16
飯前洗手......................................................................................... 16
遠離有害元素................................................................................... 16
鉛 ...................................................................................................................17
水銀 ................................................................................................................17
鎘 ...................................................................................................................18
購買帶有 RoHS 標誌的安全產品 .........................................................................18
電擊............................................................................................... 18
AC 和 DC 的區別 ..............................................................................................18
使用可充電電池和專用變壓器 ..............................................................................19
使用空氣開關和帶漏電保護的插座 .......................................................................19
保留地線 ..........................................................................................................20
不帶電工作 ......................................................................................................20
不要製作危險的機器人........................................................................ 20
控制好電機尺寸................................................................................ 21
照明............................................................................................... 21
注意休息做好計畫............................................................................. 21
第 4 章 數字萬用表........................................................... 22
必備功能......................................................................................... 22
數位顯示 ..........................................................................................................22
位數 ................................................................................................................23
DC 電壓 ..........................................................................................................23
DC 電流 ..........................................................................................................23
電阻 ................................................................................................................23
表筆或探針 ......................................................................................................23
超載 / 熔絲保護 .................................................................................................24
附加功能......................................................................................... 24
電容 ................................................................................................................24
二極體 .............................................................................................................24
連通性 .............................................................................................................24
頻率 ................................................................................................................24
占空比 .............................................................................................................25
自動量程 ..........................................................................................................25
自動關機 ..........................................................................................................25
電晶體 .............................................................................................................25
雙顯 ................................................................................................................26
最大值 .............................................................................................................26
最小值 .............................................................................................................26
支架 ................................................................................................................26
可選功能......................................................................................... 26
電感 ................................................................................................................26
資料介面 ..........................................................................................................27
示波器 .............................................................................................................27
背光 ................................................................................................................27
秒錶 / 單脈衝寬度 ..............................................................................................27
溫度 ................................................................................................................27
聲音 ................................................................................................................28
計數器 .............................................................................................................28
條形圖 .............................................................................................................28
資料保持 ..........................................................................................................28
資料自動 ..........................................................................................................28
高/低/邏輯 .....................................................................................................28
記憶 ................................................................................................................29
相對 ................................................................................................................29
偏差 ................................................................................................................29
限定測試 / 比較 .................................................................................................29
皮套或橡膠套 ...................................................................................................29
AC 功能.......................................................................................... 29
AC 電壓 ..........................................................................................................29
真有效值 ..........................................................................................................30
AC 電流 ..........................................................................................................30
購買掛鈎探針 ...................................................................................................30
萬用表對比參考................................................................................ 30
瞭解低端萬用表的功能 .......................................................................................31
瞭解中檔萬用表的功能 .......................................................................................32
瞭解高檔萬用表的功能 .......................................................................................33
功能和價格的對比 .............................................................................................34
嘗試其他的萬用表 .............................................................................................34
先準備好萬用表再工作........................................................................ 34
選擇度量衡...................................................................................... 35
千進制計數法................................................................................... 35
第 5 章 計量單位.............................................................35
大M和小m .....................................................................................................36
希臘字母 μ 的替換 ............................................................................................37
單位縮寫......................................................................................... 37
資訊有限怎麼辦................................................................................ 38
判斷單位 ..........................................................................................................38
擴展第三位 ......................................................................................................38
顏色和數位的轉換 .............................................................................................39
用萬用表測量元件值 ..........................................................................................40
基礎知識總結................................................................................... 40
明確試驗環境................................................................................... 41
路面材質 ..........................................................................................................41
第 9 章 循線機器人........................................................... 41
光照條件 ..........................................................................................................42
確定路線 ..........................................................................................................42
弧線和交叉線 ...................................................................................................43
試驗環境的總體要求 ..........................................................................................44
確定機器人的尺寸............................................................................. 44
認識 Sandwich................................................................................ 44
Sandwich 的結構 .............................................................................................45
循線開關 ..........................................................................................................45
Sandwich 的身體 .............................................................................................49
購買套件......................................................................................... 50
搭建............................................................................................... 50
測量電池電壓................................................................................... 51
設置萬用表的電壓測量檔 ....................................................................................51
第 7 章 9V 電池..............................................................51
分析測量結果 ...................................................................................................52
9V 電池的特性................................................................................. 53
9V 電池推薦.................................................................................... 54
推薦 ................................................................................................................54
不建議使用的電池 .............................................................................................56
電池品牌......................................................................................... 57
給機器人用上 9V 電池........................................................................ 58
安裝電池 ..........................................................................................................58
繼續前進......................................................................................... 59
第 8 章 鱷魚夾子和探針...................................................... 60
鱷魚夾子......................................................................................... 60
購買鉤夾......................................................................................... 60
跳線的測試...................................................................................... 61
萬用表的連通性測試檔 .......................................................................................61
開路測試 ..........................................................................................................62
短路測試 ..........................................................................................................63
測試鱷魚夾子跳線（短路） .................................................................................63
查找無效連接................................................................................... 64
跳線連接......................................................................................... 64
用電阻限制功耗................................................................................ 65
購買電阻包...................................................................................... 65
第 9 章 電阻................................................................... 65
熟悉電阻的大小和誤差........................................................................ 66
剪腳............................................................................................... 66
購買剪線工具 ...................................................................................................67
電阻和歐姆...................................................................................... 67
測量電阻......................................................................................... 68
查看萬用表上顯示的阻值 ....................................................................................68
體驗阻值範圍 ...................................................................................................69
線上查找電阻值................................................................................ 69
標記和儲存...................................................................................... 70
購買元件收納盒 ................................................................................................70
不要操之過急................................................................................... 71
第 10 章 LED................................................................72
瞭解 LED 的特性.............................................................................. 72
LED 的尺寸 .....................................................................................................72
LED 的形狀 .....................................................................................................73
LED 的鏡頭透明度 ............................................................................................74
LED 的可視角 ..................................................................................................74
LED 的顏色 .....................................................................................................75
LED 的亮度 .....................................................................................................76
LED 的效率 .....................................................................................................76
超近距離觀察 LED............................................................................ 77
認識多色 LED.................................................................................. 78
雙色 LED ........................................................................................................78
三色或三態 LED ...............................................................................................78
全彩 LED ........................................................................................................78
測試 LED........................................................................................ 79
設定萬用表的二極體模式 ....................................................................................79
分析 LED 測試結果 ...........................................................................................79
元件混裝包...................................................................................... 81
點燈上路......................................................................................... 82
搭建和測試電源指示電路 ....................................................................................83
什麼是元件列表................................................................................ 83
第 11 章 供電.................................................................83
查看電路圖 ......................................................................................................84
電源指示電路................................................................................... 84
看見亮光了嗎？ ................................................................................................85
測試電源指示電路 .............................................................................................85
熟悉每個元件的功能.......................................................................... 86
測量電源指示電路............................................................................. 86
測量線上電壓 ...................................................................................................86
測量電流 ..........................................................................................................89
計算電池壽命 ...................................................................................................90
不要把表筆插在電流端子上測量電壓 ....................................................................92
電路總結......................................................................................... 93
第 12 章 免焊測試............................................................94
尋求一種更好的方法.......................................................................... 94
免焊麵包板...................................................................................... 94
用插孔實現連接 ................................................................................................95
接線柱 .............................................................................................................97
怎麼挑選麵包板 ................................................................................................98
免焊麵包板的配套連線........................................................................ 99
跳線的選擇 ....................................................................................................100
自製跳線........................................................................................101
剝去導線兩端的絕緣外皮 ..................................................................................102
按長度切割導線 ..............................................................................................102
彎曲導線末端 .................................................................................................102
建立連接........................................................................................104
電源的設計.....................................................................................105
購買 9V 電池連接器 ........................................................................................105
把電源連接到接線柱 ........................................................................................106
第 13 章 設置免焊電路板.................................................. 105
挑選電源開關..................................................................................106
SPDT 的含義 .................................................................................................107
把開關安裝到麵包板 ........................................................................................107
連接電源匯流排..................................................................................108
用跳線擴展萬用表表筆功能 ...............................................................................108
連接下方匯流排 .................................................................................................109
跨接中間的中斷點 ..............................................................................................109
安裝 LED 電源指示器........................................................................ 109
測量接點電壓 .................................................................................................110
元件剪腳 ........................................................................................................110
機器人的電源開關............................................................................110
準備向下進行..................................................................................111
第 14 章 可變電阻.......................................................... 112
電位器...........................................................................................112
微調電位器 ....................................................................................................112
調節度盤 ........................................................................................................113
電位器的購買 .................................................................................................113
電位器的測量 .................................................................................................114
LED 亮度調節電路...........................................................................115
搭建 LED 亮度調節電路 ...................................................................................116
亮度平衡電路..................................................................................116
搭建 LED 亮度平衡電路 ...................................................................................117
硫化鎘光敏電阻...............................................................................117
光敏電阻的購買 ..............................................................................................117
測量光敏電阻的阻值變化範圍 ............................................................................118
光控電路........................................................................................118
平衡亮度傳感電路............................................................................119
平衡光線傳感電路元件列表 ...............................................................................120
平衡傳感對管 .................................................................................................120
光敏電阻的配對 ..............................................................................................120
阻抗平衡電位器 ..............................................................................................121
限流電阻 ........................................................................................................121
測試點 ...........................................................................................................122
用分壓器實現電阻和電壓的轉換 .........................................................................124
搭建亮度傳感平衡電路 .....................................................................................125
亮度傳感電路的平衡調整 ..................................................................................125
第 15 章 比較器............................................................126
電壓比較器.....................................................................................126
認識 LM393 ..................................................................................................126
比較器的購買 .................................................................................................129
亮度比較電路..................................................................................129
電路圖和接線圖的對比 .....................................................................................129
元件編號 ........................................................................................................130
繪製連線和交叉線 ...........................................................................................130
認識亮度比較電路 ...........................................................................................131
亮度比較電路的元件列表 ..................................................................................131
搭建亮度比較電路 ...........................................................................................131
增加光源........................................................................................134
認識雙 LED 光源電路 ......................................................................................134
搭建光源電路 .................................................................................................135
再次使用多個 LED ..........................................................................................136
欣賞簡約之美..................................................................................137
第 16 章 電晶體開關....................................................... 138
負電源的定義..................................................................................138
認識 2907 電晶體 ...........................................................................................139
用萬用表測試雙極型電晶體.................................................................140
使用萬用表的電晶體測試功能 ............................................................................140
使用萬用表的二極體測試檔 ...............................................................................142
雙極型電晶體測試電路....................................................................... 143
PNP 型電晶體的測試電路圖 .............................................................................143
搭建 PNP 型電晶體測試電路 ............................................................................145
NPN 型電晶體的測試電路圖 .............................................................................146
搭建 NPN 型電晶體測試電路 ............................................................................147
帶有電晶體的亮度比較電路.................................................................147
計算電晶體的電流 ...........................................................................................147
搭建帶有電晶體的亮度比較電路 .........................................................................149
PNP 型和 NPN 型電晶體的總結..........................................................150
直流電機的工作原理.........................................................................151
鐵芯永磁直流有刷電機的內部結構 .....................................................................151
第 17 章 直流電機.......................................................... 151
帶有鐵芯的永磁直流無刷電機的內部結構 ............................................................154
沒有鐵芯的永磁直流有刷電機 ............................................................................155
簡易直流電機電路............................................................................156
簡易直流電機電路對電機的要求 .........................................................................156
簡易直流電機電路對電池的要求 .........................................................................156
搭建簡易電機電路 ...........................................................................................157
直流電機的主要特性.........................................................................157
直流電機的轉速特性 ........................................................................................158
直流電機的轉矩特性 ........................................................................................160
直流電機的電壓特性 ........................................................................................162
啟動電流 ........................................................................................................164
空載電流 ........................................................................................................165
載荷電流 ........................................................................................................165
怠速電流 ........................................................................................................165
直流電機的效率特性 ........................................................................................166
直流電機的可聞雜訊 ........................................................................................167
直流電機的電雜訊特性 .....................................................................................167
直流電機的重量 ..............................................................................................168
直流電機的尺寸 ..............................................................................................168
總結直流電機的特點 ........................................................................................168
直流齒輪電機..................................................................................169
直流正齒輪電機的內部結構 ...............................................................................169
認識齒輪的比 .................................................................................................170
轉速和轉矩的轉化關係 .....................................................................................172
齒輪箱的缺點 .................................................................................................173
行星齒輪和正齒輪電機的區別 ............................................................................173
怎麼選擇齒輪減速電機 .....................................................................................173
繼續進行........................................................................................174
選擇減速電機..................................................................................175
購買減速機電機 ..............................................................................................175
第 18 章 安裝減速電機..................................................... 175
齒輪減速電機的結構 ........................................................................................176
測量實際電流（平均值） ..................................................................................178
在亮度比較電路中加入電機.................................................................178
認識二極體 ....................................................................................................179
給亮度比較電路安裝電機 ..................................................................................180
電子部分大功告成............................................................................181
第 19 章 車輪............................................................... 182
車輪的構造.....................................................................................182
機器人車輪的特點............................................................................182
充氣輪胎 ........................................................................................................182
輪胎形狀 ........................................................................................................183
輪胎寬度 ........................................................................................................184
胎面花紋 ........................................................................................................184
輪胎直徑 ........................................................................................................185
選擇機器人車輪 ..............................................................................................186
為 Sandwich 挑選車輪...................................................................... 187
確定最小直徑和最大直徑 ..................................................................................187
根據速度確定車輪的最大直徑 ............................................................................188
我為 Sandwich 挑選的車輪 ..............................................................................189
Sandwich 車輪之外的選擇 ..............................................................................190
輪胎的清潔.....................................................................................191
輪式驅動........................................................................................192
供選方案........................................................................................193
第 21 章 軸連接器.......................................................... 193
用金屬加工設備製作軸連接器 ............................................................................194
列印版軸連接器 ..............................................................................................194
管材..............................................................................................194
銅管和鋁管的選擇 ...........................................................................................194
管材尺寸的測量和購買 .....................................................................................195
管材的測量和切割............................................................................196
切割管材 ........................................................................................................196
切割後的打磨 .................................................................................................198
切割件的測試 .................................................................................................198
樂高十字軸.....................................................................................199
確定樂高十字軸的長度 .....................................................................................199
購買樂高十字軸 ..............................................................................................200
車軸與軸連接器的粘合....................................................................... 200脫膠 ..............................................................................................................200
使用環氧樹脂 .................................................................................................201
給軸連接器增加一個固定螺絲..............................................................202
標記固定螺絲孔 ..............................................................................................202
鑽床 ..............................................................................................................202
鑽床臺鉗 ........................................................................................................203
鑽固定螺絲孔 .................................................................................................203
攻固定螺絲孔 .................................................................................................203
安裝螺絲釘 ....................................................................................................203
軸連接器的使用感受.........................................................................204
焊錫..............................................................................................205
第 21 章 焊接設備.......................................................... 205
助焊劑...........................................................................................206
電烙鐵...........................................................................................206
烙鐵架...........................................................................................207
焊接海綿........................................................................................207
輔助工具........................................................................................208
真空除錫工具..................................................................................209
典型焊接步驟..................................................................................209
準備焊接........................................................................................210
電機和開關元件...............................................................................211
電機組件 ........................................................................................................211
第 22 章 焊接連線.......................................................... 211
組裝循線模式選擇開關 .....................................................................................220
組裝套管 LED 電路 .........................................................................................224
完成組裝 ........................................................................................................225
焊接經驗........................................................................................226
循線電路........................................................................................227
第 23 章 主控板............................................................227
調整優化 ........................................................................................................229
點對點焊接與印製電路板的比較 .........................................................................230
點對點焊接循線電路 ........................................................................................231
用焊接助手輔助安放元件 ..................................................................................231
佈局實例 ........................................................................................................232
購買 IC 插座 ...................................................................................................232
把 Molex KK 插座粘在電路板上 ........................................................................233
元件管腳的折彎 ..............................................................................................234
焊接硫化鎘光敏電阻 ........................................................................................236
測試機器人的電路............................................................................237
低電阻電路的危險性 ........................................................................................237
檢查管腳漏焊 .................................................................................................237
檢查連接到正極匯流排的管腳 ...............................................................................238
測量整個電路的電阻 ........................................................................................238
測量電壓降 ....................................................................................................239
焊點的補焊 ....................................................................................................239
屏住呼吸........................................................................................240
構思機器人的身體............................................................................241
運用概念式設計 ..............................................................................................241
根據零件實物進行設計 .....................................................................................241
第 24 章 結構搭建.......................................................... 241
設計個性化的身體 ...........................................................................................242
改造 Sandwich 容器........................................................................244
加工電機孔 ....................................................................................................244
安裝電機 ........................................................................................................247
製作電機套管 .................................................................................................248
把電機裝入套管 ..............................................................................................251
安裝開關和電池支架 ........................................................................................251
安裝電源開關 .................................................................................................252
安裝電路板 ....................................................................................................253
加工電位器調節孔 ...........................................................................................255
在容器蓋子上磨出一個視窗 ...............................................................................255
收尾工作 ........................................................................................................256
準備運行........................................................................................256
優化調整........................................................................................257
初步檢查 ........................................................................................................257
第 25 章 啟動循線機器人.................................................. 257
試運行：跟隨一條直線 .....................................................................................260
糾正常見問題 .................................................................................................261
首次上路........................................................................................266
解決轉向問題 .................................................................................................266
循線機器人的改進措施....................................................................... 267
防止電池反接 .................................................................................................267
用電容器消除浪湧電流 .....................................................................................268
提高循線性能 .................................................................................................269
完美謝幕........................................................................................270
第 26 章 更靈活、更輕巧、更便宜........................................ 272
優化感測器電路...............................................................................272
降低光電感測器的電阻 .....................................................................................273
直線行駛 ........................................................................................................273
繼續修改或徹底更新？ .....................................................................................274
降低成本改善性能............................................................................274
縮小尺寸 ........................................................................................................275
增加功能 ........................................................................................................277
降低成本 ........................................................................................................278
不斷提高........................................................................................279
第 27 章 增補內容.......................................................... 280
機器人的元件..................................................................................280
邏輯晶片 ........................................................................................................280
微控制器 ........................................................................................................281
電源穩壓器 ....................................................................................................282
電容器 ...........................................................................................................283
太陽能電池 ....................................................................................................284
網路電阻 ........................................................................................................285
按鈕 ..............................................................................................................285
DIP 開關 .......................................................................................................286
跳線和短路塊 .................................................................................................286
傾斜感測器 ....................................................................................................287
溫度感測器 ....................................................................................................287
觸摸感測器 ....................................................................................................288
目標檢測與紅外遙控 ........................................................................................288
距離檢測感測器 ..............................................................................................289
石英晶體振盪器 ..............................................................................................289
聲音 ..............................................................................................................289
繼電器 ...........................................................................................................290
附加齒輪 ........................................................................................................290
舵機 ..............................................................................................................291
編碼器——檢測車輪轉速 ..................................................................................291
顯示器 ...........................................................................................................292
無線數控 ........................................................................................................292
日常挑戰........................................................................................293
室內植物澆水機器人 ........................................................................................293
堆肥車 ...........................................................................................................293
垃圾車 ...........................................................................................................293
洗窗機器人 ....................................................................................................294
屋頂鼠 ...........................................................................................................294
微型掃雪機 ....................................................................................................294
壓路機 ...........................................................................................................294
自動信報箱 ....................................................................................................294
競賽..............................................................................................295
風靡世界的機器人相撲 .....................................................................................295
三一學院的消防競賽 ........................................................................................295
亞特蘭大機器人吸塵競賽 ..................................................................................296
西雅圖機器人協會的 Robothon ........................................................................296
達拉斯個人機器人團隊 Roborama ....................................................................296
伊利諾斯州中部機器人俱樂部 ............................................................................296
芝加哥地區的機器人俱樂部（Chibots） .............................................................297
無限可能性.....................................................................................297
附錄 A......................................................................... 298
神奇的歐姆定律...............................................................................298
用歐姆定律選擇限流電阻 ..................................................................................299
通過電壓判斷電流 ...........................................................................................299
歐姆定律的要點 ..............................................................................................300
歐姆定律產生的效果 ........................................................................................300
這本書的“戰損”............................................................................300
9V 電池該怎麼安裝？ ......................................................................................301
開關燒融 ........................................................................................................301
萬用表燒保險絲 ..............................................................................................302
失敗不可避免 .................................................................................................302
電壓的叫法.....................................................................................302
地和負電壓的區別 ...........................................................................................303
V 加雙字元 ....................................................................................................303
附錄 B......................................................................... 304
認識 3D 列印..................................................................................304
容易實現 ........................................................................................................305
顯著改善 ........................................................................................................305
列印電機軸連接器............................................................................305
設計模型 ........................................................................................................306
準備列印 ........................................................................................................307
3D 列印 .........................................................................................................307
完成後的軸連接器 ...........................................................................................308
3D 列印版車輪................................................................................308
刷胎面膠 ........................................................................................................309
複合式車輪 ....................................................................................................309
設計機器人的身體............................................................................310
機蓋 ..............................................................................................................311
嘗試自己動手..................................................................................311
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