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Two specialized kinds of equipment are needed for DSPC: a dedicated computer called a shell-design unit (SDU) and a shell- or moldprocessing unit (SPU). The CAD file is loaded into the SDU to generate the data needed to define the mold. SDU software also modifies the original design dimensions in the CAD file to compensate for ceramic shrinkage. This software can also add fillets and delete such features as holes or keyways that must be machined after the prototype is cast. The movable platform in DSPC is the piston within the build cylinder. It is lowered to a depth below the rim of the build cylinder equal to the thickness of each layer. Then a thin layer of fine aluminum oxide (alumina) powder is spread by roller over the platform, and a fine jet of colloidal silica is sprayed precisely onto the powder surface to bond it in the shape of a single mold layer. The piston is then lowered for the next layer and the complete process is repeated until all layers have been formed, completing the entire 3D shell. The excess powder is then removed, and the mold is fired to convert the bonded powder to monolithic ceramic. After the mold has cooled, it is strong enough to withstand molten metal and can function like a conventional investment-casting mold. After the molten metal has cooled, the ceramic shell and any cores or gating are broken away from the prototype. The casting can then be finished by any of the methods usually used on metal castings. DSPC is a proprietary process of Soligen Technologies, Northridge, California. The company also offers a custom mold manufacturing service.

You can test the operation of the robot by connecting the motors and battery to a temporary control switch. See 8, Plastic Platforms, for a wiring diagram. With the components listed in Table 23-1, the robot should travel at a speed of about 1 ft/s. The actual speed will probably be under that because of the weight of the robot. Fully loaded, the Roverbot will probably travel at a moderate speed of about 8 or 9 in/s. That s just right for a robot that vacuums the floor, roams the house for fires, and protects against burglaries. If you need your Roverbot to go a bit faster, the easiest (and cheapest) solution is to use larger wheels. Using 8-in wheels will make the robot travel at a top speed of 15 in/s. One problem with using larger wheels, however, is that they raise the center of gravity of the robot. Right now, the center of gravity is kept rather low, thanks to the low position of the two heaviest objects, the batteries and motors. Jacking up the robot using larger wheels puts the center of gravity higher, so there is a somewhat greater chance of the robot tipping over. You can minimize any instability by making sure that subsystems are added to the robot from the bottom of the riser and that the heaviest parts are positioned closest to the base. You can also mount the motor on the bottom of the frame instead of on top.

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Artificial intelligence researchers and robot builders alike have been looking to nature for inspiration on how to build their systems. All of the animals have successful control systems, providing quick reactions to a changing environment as well as high-level planning and guidance the thinking meat of Terry Bisson s short skit, They re Made of Meat:

To learn more about . . . Constructing robots using metal parts and pieces Powering your robot using batteries Selecting a motor for your robot Operating your robot with a computer Read 10, Building a Metal Platform 17, Batteries and Robot Power Supplies 19, Choosing the Right Motor 12, An Overview of Robot or Microcontroller Brains

he strange and unique contraption shown in Fig. 24-1 walks on six legs and turns corners with an ease and grace that belies its rather simple design. The Walkerbot design described in this chapter is for the basic frame, motor, battery system, running gear, and legs. You can embellish the robot with additional components, such as arms, a head, as well as computer control. The frame is oversized (in fact, it s too large to fit through some inside doors!), and there s plenty of room to add new subsystems. The only requirement is that the weight doesn t exceed the driving capacity of the motors and batteries and that the legs and axles don t bend. The prototype Walkerbot weighs about 50 lb. It moves along swiftly and no structural problems have yet occurred. Another 10 or 15 lb could be added without worry.

Ballistic Particle Manufacturing (BPM)

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