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Solenoids are electromechanical devices. A typical solenoid consists of a coil of wire that has a metal plunger through its center. When energized, the coil creates a magnetic field that either pulls or pushes the metal plunger (see Fig. 4.6). The metal plunger is mechanically connected to the robotic device that needs movement.

A rotary solenoid is a derivative of the standard solenoid (see Fig. 4.7). Instead of producing a linear motion, it produces a rotary motion. A rotary solenoid can be used to create a robotic fish (see Chap. 13).

Stepper motors may be used for locomotion, movement, steering, and positioning control. These motors are used as integrated components in many commercial and industrial computer-controlled applications. For home personal computer (PC) users, stepper motors can be found in disk drives and printers. Stepper motors are unique because they can be controlled using digital circuits. They are capable of precise incremental shaft rotation. This makes stepper motors ideal for rotary or linear positioning. Because stepper motors are widely used in industry, they come in a variety of shapes, sizes, and specifications (see Fig. 4.8A).

has to say on the subject: Too many choices, all of which can be fulfilled instantly, indulged immediately, keeps children and adults infantile. From a marketing perspective, people stop caring, get as fat and fatigued as geese destined for foie gras, and lose their decision-making capabilities. They withdraw and protect against the overstimulation; they get bored.

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When power is applied to a standard electric motor, the rotor begins turning smoothly. The speed and position of the motor s rotor are a function of voltage, load on the motor, and time. Precise positioning of the rotor is not possible. A stepper motor, however, runs on a sequence of electric pulses to the windings of the motor. Each pulse to a winding turns the rotor by a precise predetermined amount. The incremental movements of the rotor are often called steps. Hence the name, stepper motors. Not all stepper motors rotate the shaft (rotor) by the same amount per step. They are manufactured with different degrees of rotation per step (or pulse). The optimum degrees per step will depend upon the particular application. Stepper motor specifications clearly state the degree of rotation per step. You can find a variety of stepper motors, with the range of rotation per step varying from a fraction of a degree (i.e., 0.72 degree) to many degrees (i.e., 22.5 degrees).

gearbox motor. The circuit reads the level of illumination that the robot sees. If the light level is high enough, it turns on the motor to the gearbox. The trip level of the circuit is user adjustable using potentiometer V1.

The typical argument is that extensive choice is appealing. But as Dr. Moog suggests, it can actually be a turnoff. Choice can hinder the motivation to buy. Consider the research done on 401(k) plans and the employees who sign up for them. Researchers studied data on 800,000 employees in 647 plans in 69 industries. What happened As the number of fund options increased, employee participation rates dropped. Too many choices spelled confusion. And confusion led to, No thanks. Swarthmore College sociology professor Barry Schwartz wrote a book about these turnoffs. He called it The Paradox of Choice. Speaking at an industry forum in 2006, he said:

Before we get into the construction of the robot, let s first look at the gearbox (see Fig. 12.3). Physically, this gearbox is smaller than many gearboxes and is easier to fit inside the sphere. It has a 1000:1 gear ratio. The higher the gear ratio, the slower the robot will move.

In the prototype, the gearbox is set to the 1000:1 ratio. You can use any gearbox that can fit and rotate inside the 51/2" transparent sphere. Choose one with a high gear ratio that delivers low revolutions per minute (7 rpm).

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