Robot Sumo

The Official Guide

By: Pete Miles

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Paperback | 10 October 2002

At a Glance

Paperback
408 Pages

Dimensions(cm)
22.86 x 19.05 x 2.54

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From the publishers of BattleBots: The Official Guide comes the only book on the market to cover Robot Sumo, the world's hottest new robot sport. Read all about the rules and regulations, see hundreds of pictures and diagrams--and learn how to build your very own Sumo Bot! Fully endorsed by Fujisoft ABC, Inc., the world's leading promoter of International Robot Sumo competitions.

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You Can Find This Book In

Non-Fiction Engineering & Technology Electronics & Communications Engineering Electronics Engineering Automatic Control Engineering Robotics Hobbies, Games & Puzzles Hobbies

Acknowledgments	p. xxi
Introduction	p. xxiii
Introducing Robot Sumo	p. 1
Why Participate in Robot Sumo?	p. 1
What Is Robot Sumo?	p. 4
Sumo Robot Sizes	p. 4
Sumo Robot Design	p. 5
A Short History of Robot Sumo	p. 7
What You Need to Know and What You'll Learn	p. 8
The Rules of the Game	p. 11
The Official Japanese Rules	p. 11
Definition of a Match	p. 12
Dohyo Specifications	p. 12
Robot Specifications	p. 13
Game Principles	p. 14
Game Procedure	p. 15
Yuko (Effective) Points	p. 16
Violations and Penalties	p. 17
Injury and Accidents	p. 18
Objections	p. 18
Specifications of Robot Markings	p. 18
Others	p. 19
Interpretation of the Rules	p. 19
Game Points	p. 19
The Weigh-in and Sizing Check	p. 19
The Beginning of the Game	p. 20
Robot Specifications	p. 21
Robot Restrictions	p. 22
Restarting a Match	p. 23
Modification of the Rules	p. 23
Robot Sumo Weight Classes	p. 24
Tournament Styles	p. 25
A Simple Game	p. 26
Building the Sumo Ring	p. 27
Specifications for the Sumo Ring	p. 28
Color and Size Specifications	p. 28
The Surface of the Dohyo	p. 29
Building a Practice Sumo Ring	p. 30
Building a Full-Sized Wooden Sumo Ring	p. 30
Wooden Sumo Ring Design	p. 30
Wooden Sumo Ring Construction	p. 31
Building a Full-Sized Metal Dohyo	p. 36
Metal Sumo Ring Design	p. 36
Metal Sumo Ring Construction	p. 38
Building a Mini Sumo Dohyo	p. 38
Applying the Top Surface to the Dohyo	p. 40
Preparing a Wooden Surface for a Practice or Mini Sumo Ring	p. 40
Adding a Metal Surface	p. 40
Adding a Vinyl Surface	p. 41
Painting Your Dohyo	p. 42
Painting the Wooden Surface	p. 42
Painting Vinyl and Steel Surfaces	p. 46
Final Comments on Building Sumo Rings	p. 46
Robot Materials and Construction Techniques	p. 47
Robot Weight	p. 48
Robot Materials	p. 48
Wood	p. 48
Plastic	p. 49
Aluminum	p. 50
Brass	p. 51
Material Comparison	p. 51
Fasteners for Robot Assembly	p. 53
Adhesives	p. 53
Screws and Bolts	p. 53
Tools for Robot Construction	p. 55
Hand Tools	p. 55
Power Tools	p. 56
Electronic Tools	p. 56
Final Comments on Robot Materials and Construction Techniques	p. 59
Making Your Robot Move	p. 61
Choosing a Locomotion Style for Your Robot	p. 61
The Wheeled Robot	p. 62
The Tank-Treaded Robot	p. 64
The Walking Robot	p. 67
Selecting a Steering Method	p. 68
Ackerman Steering	p. 69
Differential Steering	p. 70
The Synchro Drive System	p. 71
Holonomic Motion Control	p. 71
Selecting the Right Wheel for Your Robot	p. 73
Wheel Sources	p. 73
Custom Wheels	p. 77
Mini Sumo Robot Wheels	p. 79
Mounting Wheels to Drive Shafts	p. 83
Set Screw Mounting	p. 84
The Pinned Shaft Method	p. 85
Hex Nut-Style Mounting	p. 86
Wheel Mounting Alignment	p. 87
Quick-Disconnect Coupling	p. 87
Closing Comments on Locomotion	p. 88
Power Transmission Fundamentals	p. 89
Power Transmission Choices	p. 90
Kinematic Fundamentals	p. 91
Differential Steering	p. 91
Pushing Force	p. 93
Speed Reduction	p. 95
Increasing the Wheel Torque	p. 98
Power Transmission System Components	p. 99
Chain-Drive Systems	p. 100
Belt-Drive Systems	p. 105
Gears	p. 107
Bearings	p. 109
Gearboxes	p. 112
Closing Comments on Power Transmission	p. 118
Batteries: The Heart of a Robot	p. 119
Battery Types	p. 120
Alkaline Batteries	p. 120
Nickel-Cadmium Batteries	p. 121
Nickel-Metal-Hydride Batteries	p. 121
Sealed-Lead-Acid Batteries	p. 122
Lithium-Ion Batteries	p. 122
Other Types of Batteries	p. 123
Battery Basics	p. 123
Battery Capacity	p. 123
Internal Resistance	p. 126
Battery Summary	p. 128
Battery Packs	p. 128
Battery Recharging	p. 130
Battery and Wire Installation	p. 132
Battery Placement	p. 132
Electrical Wire Requirements	p. 133
Terminal Blocks	p. 134
Multiple Power Supplies	p. 135
Closing Comments on Batteries	p. 135
It's All About Power: Selecting the Right Motor	p. 137
Motor Types	p. 138
Rare-Earth and Ferrite Magnet Motors	p. 138
Brushless PMDC Motors	p. 139
Electric Motor Basics	p. 139
Motor Speed	p. 140
Motor Torque	p. 140
Stall Current	p. 141
Power and Efficiency	p. 142
Determining the Motor Constants	p. 143
Power and Heat	p. 146
Battery Effects	p. 148
Pushing the Limits of Your Motors	p. 149
Effects of Increasing Voltage	p. 149
Cooling Motors	p. 150
How to Select a Motor	p. 151
Defining Your Robot's Performance Specifications	p. 151
Finding the Motor	p. 152
R/C Servos for Gearmotors	p. 154
Using Servos as Sumo Robot Motors	p. 155
R/C Control Signals	p. 156
Modifying a Servo	p. 158
Motor Sources	p. 163
Final Comments on Motors	p. 163
Motor Control Fundamentals	p. 165
Motor-Direction Control	p. 166
Switch Combinations for Motor Actions	p. 166
Relay Control	p. 167
Transistor Control	p. 168
Solid-State H-Bridges	p. 171
Integrated-Circuit-Based Solutions	p. 173
Variable-Speed Control	p. 175
Variable Resistors	p. 175
Pulse Width Modulation	p. 176
Commercial Electronic Speed Controllers	p. 178
Commercial H-Bridges	p. 179
Radio-Control Electronic Speed Controllers	p. 179
Radio-Control-Compatible Electronic Speed Controllers	p. 183
Advanced Motor Controllers	p. 184
Final Comments on Motor Speed Controllers	p. 185
Remotely Controlling Your Robot	p. 187
Radio-Control System Basics	p. 188
Radio-Control Channels	p. 189
Radio-Control Frequencies	p. 189
Radio Transmission Methods	p. 192
R/C Control Signals	p. 194
Radio Interference	p. 194
Reducing Electrical Noise from Motors	p. 194
Reducing Interference from Other Radios	p. 196
R/C Antenna Setup	p. 196
R/C Configurations for Sumo Robots	p. 198
Mini Sumo Robot R/C Configuration	p. 200
Servo Mixing for Steering Controls	p. 201
Tether-Control Systems	p. 206
General Specifications for Tether-Controlled Robots	p. 207
Simple Tether-Control Circuits	p. 207
Failsafe Control	p. 208
Final Comments on Remote-Control Robots	p. 209
Introduction to Microcontrollers	p. 211
What Is a Microcontroller?	p. 212
Basic Microcontroller Features	p. 213
Special Microcontroller Features	p. 214
Programming Environments	p. 215
Types of Microcontrollers	p. 216
Parallax Basic Stamp Modules	p. 217
The Parallax Javelin Stamp Module	p. 221
Basic Micro Basic Atom Modules	p. 223
The Basic Micro MBasic Compiler	p. 224
The Acroname BrainStem	p. 225
The LEGO RCX Brick	p. 226
Handy Board	p. 228
The BotBoard Plus	p. 228
Single-Chip Solutions	p. 229
Closing Comments on Microcontrollers	p. 230
Sensors: Letting Your Robot See the World	p. 233
Edge-Detection Sensors	p. 234
Mechanical Edge-Detection Sensors	p. 234
Optical Edge-Detection Sensors	p. 238
Opponent-Detection Sensors	p. 242
Mechanical Opponent-Detection Sensors	p. 242
Infrared Reflective Sensors	p. 243
Infrared Sensor Variations	p. 248
Sharp Infrared Proximity Detectors	p. 249
Sharp Infrared Range Sensors	p. 253
Ultrasonic Range Sensors	p. 258
Using Ultrasonic Sensors	p. 259
Sensor Placement	p. 261
Protecting Your RobotAEs Rear	p. 262
Sensor Range Issues	p. 262
Using Multiple Sensors	p. 262
Discovering Your Opponent's Location	p. 265
Sensor Accuracy Issues	p. 266
Drawbacks to Reflective Sensors	p. 266
It's a Noisy World Out There	p. 267
Calibrating Sensors	p. 268
Closing Remarks on Sensors	p. 269
Building the Robot	p. 271
Full-Sized Sumo Robots	p. 271
Viper Sumo Robot	p. 272
Terminator Sumo Robot	p. 284
Mini Sumo Robots	p. 286
A Mini Sumo Robot Built from Scratch	p. 286
Mini Sumo Kits	p. 294
Closing Remarks on Building Robots	p. 296
Offensive and Defensive Strategies	p. 297
General Competition Tips	p. 297
Knowing Your Competition	p. 298
Showing Confidence	p. 298
The Luck Factor	p. 299
Strategies for Remote-Control Robots	p. 299
Programming Tips	p. 299
Using Subroutines	p. 300
Subsumptive Programming	p. 300
Using Multiple Programs	p. 301
Competition Strategies	p. 302
Offensive Strategies	p. 302
Defensive Strategies	p. 306
Closing Remarks on Strategy	p. 308
Improving Your Robot's Pushing Capability	p. 309
Improving Wheel Traction	p. 310
Coating the Wheels	p. 310
Casting Wheels	p. 311
Increasing the Apparent Weight of Your Robot	p. 313
Vacuum Systems	p. 313
Magnetic Systems	p. 320
Closing Remarks on Traction and Pushing Capabilities	p. 323
Real-Life Sumo Robots: Lessons from Robot Builders	p. 325
Mini Sumo Robots	p. 326
LEGO Sumo Robots	p. 331
Middleweight Sumo Robots	p. 331
Full-Sized Sumo Robots	p. 332
Now Go Build a Robot!	p. 338
Robot Resources and References	p. 339
Sumo Robot Parts Suppliers	p. 340
Sumo Ring Construction Materials	p. 340
Wheels, Hubs, and Mounting Hardware	p. 340
Motor and Gearmotor Sources	p. 341
Surplus Motors and Gearmotors	p. 342
R/C Servo Motors	p. 342
Gears and Drive Components	p. 342
Batteries	p. 343
Motor Controllers	p. 343
Remote-Control Equipment	p. 344
Microcontrollers	p. 344
Robot Sensors	p. 345
Electronic Parts Suppliers	p. 346
Mechanical Parts Suppliers	p. 346
Vacuum Pump Suppliers	p. 346
High-Strength Magnets	p. 347
Silicon and Polyurethane High Traction Wheel Casting Compounds	p. 347
Printed Circuit Board Manufacturers	p. 347
Hobby Stores	p. 348
Tools	p. 348
References	p. 348
Robot Building	p. 348
Electronics	p. 349
Machine Design	p. 349
Programming	p. 349
Other Robot References and Resources	p. 350
Major Robot Sumo Tournaments	p. 350
Robotics Clubs	p. 351
Robot Power Supplies	p. 353
Index	p. 357
Table of Contents provided by Syndetics. All Rights Reserved.

Robot Sumo

The Official Guide

At a Glance

Paperback

Shipping

How to return your order

Defective items

You Can Find This Book In

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