{"id":844,"date":"2005-10-25T00:00:08","date_gmt":"2005-10-24T22:00:08","guid":{"rendered":"http:\/\/astrozor.cz\/?p=844"},"modified":"2010-09-28T20:36:40","modified_gmt":"2010-09-28T18:36:40","slug":"popis-robotu-sagitta-a-dark-jump","status":"publish","type":"post","link":"https:\/\/www.robozor.cz\/?p=844","title":{"rendered":"Popis robot\u016f Sagitta a Dark Jump"},"content":{"rendered":"

Popis robota Sagitta, kter\u00fd se um\u00edstil jako prvn\u00edv sout\u011b\u017ei Nap\u00e1jeni sluncem 2005 spolu s Dark Jump. Oba nejrychlej\u0161\u00ed roboti jsou d\u00edlem jednoho stvo\u0159itele Jakuba K\u00e1kony.<\/p>\n

Popis robot\u016f Sagitta a Dark Jump<\/span><\/p>\n

Tyto roboty byly postaveny pro sout\u011b\u017e Nap\u00e1jeni Sluncem 2005. Jejich konstruk\u010dn\u00ed \u0159e\u0161en\u00ed je tedy omezeno pravidly t\u00e9to sout\u011b\u017ee.<\/p>\n

Mechanick\u00e1 konstrukce<\/strong>
\nMechanick\u00e1 konstrukce vych\u00e1z\u00ed z konstrukce robota Dark Walker, kter\u00fd jezdil v sout\u011b\u017ei v roce 2003. Hnan\u00e1 n\u00e1prava je um\u00edst\u011bna vp\u0159edu a vzadu je jedno op\u011brn\u00e9 kole\u010dko. Toto \u0159e\u0161en\u00ed zp\u016fsobuje, \u017ee hnan\u00e1 n\u00e1prava je p\u0159i rozjezdu odleh\u010dena a je tedy nutn\u00e9, aby kole\u010dka byla obuta kvalitn\u00ed gumou s dobrou adhez\u00ed. Na druhou stranu p\u0159i tomto \u0159e\u0161en\u00ed nedoch\u00e1z\u00ed ke „stav\u011bn\u00ed se aut\u00ed\u010dka na zadn\u00ed“. T\u011b\u017ei\u0161t\u011b je um\u00edst\u011bno t\u011bsn\u011b za p\u0159edn\u00ed n\u00e1pravu. Po skon\u010den\u00ed akcelerace je tedy zadn\u00ed kole\u010dko odleh\u010deno.<\/p>\n

\"\"<\/a>

Popis robot\u016f Sagitta a Dark Jump1<\/p><\/div>\n

V\u0161echna lo\u017eiska jsou na aut\u00ed\u010dku kluzn\u00e1 (ocelov\u00e1 h\u0159\u00eddelka v mosazn\u00e9m pouzdru). Pro maz\u00e1n\u00ed je pou\u017eita sm\u011bs oleje a grafitu. Sagitta m\u00e1 p\u0159edn\u00ed kole\u010dka z \u0159emenic z walkmana. Dark Jump m\u00e1 p\u0159edn\u00ed kole\u010dka z aut\u00ed\u010dka na setrva\u010dn\u00edk (zde je na m\u00edst\u011b pod\u011bkov\u00e1n\u00ed Hronkovi mlad\u0161\u00edmu (3 roky), kter\u00fd n\u00e1s z\u00e1sobuje kole\u010dky z hra\u010dek), kole\u010dka jsou odleh\u010dena vyvrtan\u00fdmi otvory. Jako zadn\u00ed kole\u010dko je pou\u017eita p\u0159\u00edtla\u010dn\u00e1 rolni\u010dka p\u00e1sku z walkmana.<\/p>\n

Slune\u010dn\u00ed \u010dl\u00e1nky jsou um\u00edst\u011bny na p\u0159\u00edhradov\u00e9 konstrukci z balzy, kter\u00e1 je pota\u017eena pap\u00edrem. Sagitta m\u00e1 hmotnost 66 g a Dark Jump 71 g.<\/p>\n

Pohon<\/strong>
\nP\u0159evodovky jsou na robotech jednostup\u0148ov\u00e9 s ozuben\u00fdmi koly s evolventn\u00edm ozuben\u00edm. Byly koupeny v model\u00e1\u0159sk\u00e9 prodejn\u011b za 160 K\u010d a jejich p\u016fvodn\u00ed ur\u010den\u00ed je pohon vrtule elektroletu. Proto\u017ee p\u0159evodovky ve voz\u00edtku p\u0159en\u00e1\u0161ej\u00ed v\u00fdkon pouze cca 1W oproti des\u00edtk\u00e1m watt\u016f v elektroletu, mohly b\u00fdt podstatn\u011b odleh\u010deny. Byla z nich odstran\u011bna asi 1\/3 materi\u00e1lu. Sagitta m\u00e1 p\u0159evodovku s p\u0159evodov\u00fdm pom\u011brem 1:3 a Dark Jump m\u00e1 p\u0159evodov\u00fd pom\u011br 1:4. Motory jsou z rozbit\u00fdch CD mechanik. P\u016fvodn\u011b slou\u017eily na vysouv\u00e1n\u00ed CD z mechaniky. Jsou to stejnosm\u011brn\u00e9 komut\u00e1torov\u00e9 motory s permanentn\u00edm magnetem.<\/p>\n

Elektrick\u00e1 konstrukce
\n<\/strong>Zapojen\u00ed je shodn\u00e9 s robotem dart01b<\/a>. Po mnoha pokusech s m\u011bni\u010di bylo vybr\u00e1no pro c\u00edvku m\u011bni\u010de toroidn\u00ed j\u00e1dro z materi\u00e1lu H22 se vzduchovou mezerou.<\/p>\n

\"\"<\/a>

Popis robot\u016f Sagitta a Dark Jump2Popis robot\u016f Sagitta a Dark Jump3<\/p><\/div>\n

\n

Oba roboti pou\u017e\u00edvaj\u00ed standardn\u00ed slune\u010dn\u00ed \u010dl\u00e1nky, kter\u00e9 dod\u00e1v\u00e1 organiz\u00e1tor sout\u011b\u017ee. V\u0161echny \u010dl\u00e1nky (8 ks) jsou v\u017edy zapojeny do s\u00e9rie. Takto zapojen\u00e9 \u010dl\u00e1nky dod\u00e1vaj\u00ed robotu p\u0159i optim\u00e1ln\u00edm zat\u00ed\u017een\u00ed nap\u011bt\u00ed cca 3 V a na trati je k dispozici st\u00e1l\u00fd v\u00fdkon cca 115 mW.<\/p>\n

Robot Sagitta m\u00e1 odli\u0161n\u011b \u0159e\u0161eno m\u011b\u0159en\u00ed nap\u011bt\u00ed na \u010dl\u00e1nc\u00edch. Jako nap\u011b\u0165ov\u00e1 reference je pou\u017eita LED. Na startu se porovn\u00e1v\u00e1 \u00fabytek nap\u011bt\u00ed na t\u00e9to diod\u011b, kter\u00fd je zhruba 1,7 V, oproti nap\u00e1jec\u00edmu nap\u011bt\u00ed. Dioda z\u00e1rove\u0148 zat\u011b\u017euje \u010dl\u00e1nky proudem cca 8 mA. K odstartov\u00e1n\u00ed dojde, pokud nap\u011bt\u00ed na \u010dl\u00e1nc\u00edch p\u0159i t\u00e9to z\u00e1t\u011b\u017ei vzroste nad 3,6 V.<\/p>\n

\"\"<\/a>

Popis robot\u016f Sagitta a Dark Jump4<\/p><\/div>\n<\/div>\n

Zde je\u00a0sch\u00e9ma zapojen\u00ed<\/a> a podklady pro sch\u00e9ma zapojen\u00ed<\/a>. Propojka mezi v\u00fdvodem procesoru RA4 a odporem R7 je realizov\u00e1na dr\u00e1tem. Stejn\u011b tak odporov\u00fd trimr P1 je p\u0159ip\u00e1jen na rezervn\u00ed bastlpole na kraji plo\u0161n\u00e9ho spoje a je p\u0159ipojen lakovan\u00fdmi dr\u00e1tky, jak je vid\u011bt z obr\u00e1zk\u016f.<\/div>\n
\n
\"\"<\/a>

Popis robot\u016f Sagitta a Dark Jump5<\/p><\/div>\n<\/div>\n

\n
\"\"<\/a>

Popis robot\u016f Sagitta a Dark Jump6<\/p><\/div>\n<\/div>\n

\n

V zapojen\u00ed je pou\u017eit tranzistor ze star\u00e9 baterie z mobiln\u00edho telefonu. Zde p\u0159ikl\u00e1d\u00e1me jeho parametry<\/a>.<\/p>\n

Program
\n<\/strong>Po startu procesoru (p\u0159i nap\u011bt\u00ed cca 1,5V) je PWM m\u011bni\u010de nastavena na minimum a je periodicky m\u011b\u0159eno nap\u011bt\u00ed na \u010dl\u00e1nc\u00edch. U Sagitty se to projevuje tak, \u017ee blik\u00e1 LED. To je zn\u00e1mka toho, \u017ee se provedl korektn\u00ed reset procesoru a \u017ee je robot p\u0159ipraven ke startu.<\/p>\n

Po odkryt\u00ed \u010dl\u00e1nk\u016f start\u00e9rem p\u0159es\u00e1hne jejich nap\u011bt\u00ed nastavenou mez a program za\u010dne akumulovat energii. Z trimru se na\u010dte p\u0159ednastaven\u00e1 hodnota pro optim\u00e1ln\u00ed zat\u00ed\u017een\u00ed \u010dl\u00e1nk\u016f. PWM se nastav\u00ed na po\u017eadovanou hodnotu a program \u010dek\u00e1 definovanou dobu. Doba je nastavena tak, aby do 15s po odkryt\u00ed \u010dl\u00e1nk\u016f robot p\u0159eru\u0161il laserov\u00fd paprsek \u010dasom\u00edry. Vzhledem k tomu, \u017ee zapojen\u00ed pou\u017e\u00edv\u00e1 intern\u00ed RC oscil\u00e1tor procesoru, kter\u00fd nen\u00ed p\u0159\u00edli\u0161 p\u0159esn\u00fd, je nutn\u00e9 danou dobu zm\u011b\u0159it a upravit konstantu v programu.<\/p>\n

Rozjezd se prov\u00e1d\u00ed v kroc\u00edch po 55 ms. (U Dark Jumpa se krok nastavuje trimrem P2.) Ka\u017ed\u00fdch 55 ms se zv\u011bt\u0161\u00ed doba sepnut\u00ed PWM o 1\/8 periody.<\/p>\n

Doba j\u00edzdy na pln\u00fd v\u00fdkon je omezena na cca 1,3 s. Po t\u00e9to dob\u011b je motor odpojen.<\/p>\n

Programy pro\u00a0stagittu<\/a> a\u00a0dark_jumpa<\/a> se m\u00edrn\u011b li\u0161\u00ed vzhledem k jejich drobn\u00fdm HW odli\u0161nostem.<\/p>\n

\n

Uveden\u00e9 konstrukce bylo dosa\u017eeno po zhruba ro\u010dn\u00edm experimentov\u00e1n\u00ed s m\u011bni\u010di kolegou Horkelem a po n\u011bkolikam\u011bs\u00ed\u010dn\u00edm experimentov\u00e1n\u00ed se t\u0159emi modely robot\u016f (rozum\u00ed se samoz\u0159ejm\u011b po noc\u00edch ve voln\u00e9m \u010dase). Dnes st\u00e1le nejsou vyjasn\u011bny v\u0161echny teoretick\u00e9 aspekty t\u00e9to konstrukce a v\u011b\u0159\u00edme, \u017ee po jejich pochopen\u00ed bude mo\u017en\u00e9 voz\u00edtka je\u0161t\u011b zlep\u0161it. Otev\u0159enou ot\u00e1zkou z\u016fst\u00e1v\u00e1 zejm\u00e9na \u00fa\u010dinnost m\u011bni\u010de. Sou\u010dasn\u00e1 konstrukce dosahuje \u00fa\u010dinnosti zhruba 65% p\u0159i akumulaci energie do kondenz\u00e1toru v\u016f\u010di teoretick\u00e9 hodnot\u011b, kter\u00e1 odpov\u00edd\u00e1 optim\u00e1ln\u00edmu zat\u00ed\u017een\u00ed \u010dl\u00e1nk\u016f a bezeztr\u00e1tov\u00e9 akumulaci.<\/p>\n<\/div>\n","protected":false},"excerpt":{"rendered":"

Popis robota Sagitta, kter\u00fd se um\u00edstil jako prvn\u00edv sout\u011b\u017ei Nap\u00e1jeni sluncem 2005 spolu s Dark Jump. Oba nejrychlej\u0161\u00ed roboti jsou d\u00edlem jednoho stvo\u0159itele Jakuba K\u00e1kony. Popis robot\u016f Sagitta a Dark Jump Tyto roboty byly postaveny pro sout\u011b\u017e Nap\u00e1jeni Sluncem 2005. Jejich konstruk\u010dn\u00ed \u0159e\u0161en\u00ed je tedy omezeno pravidly t\u00e9to sout\u011b\u017ee. Mechanick\u00e1 konstrukce Mechanick\u00e1 konstrukce vych\u00e1z\u00ed z …<\/p>\n

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