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Contents xv

The Tread 383
Building the Tread 384
Controlling the Robot:The Joystick Sub-Assembly 386
Building the Joystick 391
Programming the RCX to Receive the Joystick Input 405
Putting it All Together 407
Summary & A Few Customization Options 411

Masterpiece 7 CyberArm IV: Robotic
Arm With Feedback Sensors 413
Bill of Materials 414
Introduction 415
History of the CyberArm Series 415
CyberArm Design and Construction 418
The Pneumatic System 420
The Gears and Motors 421
Getting Down to Business:Things to
Keep in Mind While Building CyberArm IV 423
The Base 427
The Pneumatic Compressor 430
The Pneumatic Valve Switch 433
The Tower Frame 439
The Turntable Base 443
The Pressure Limiter Switch 446
Two Alternate Designs for the Pole Reverser Switch 450
The Turntable Drive 452
Completing the Tower 457
The Shoulder 461
The Upper Arm 471
The Forearm 477
The Wrist 483
The Grabber 486
The Lower RCX Frame 490
The Upper RCX Frame 492
The Turntable 495
The 9Volt Battery Box 497