Hand drills are pretty strong, hopefully this instructable will help others integrate it into other projects,... maybe some guitar pickup winders...
We also talk about using home made optical encoders, which can be used for all sorts of robot applications.
* Hand Drill
* Arduino Code
* uController, arduino / roboduino, something to control servos
* (2) servos, one for throttle, one to guide the solder (we used HS-311s)
* (3) Flanged Bearings These are nice because the bearing can swivel in the flange, eliminating the need for precise alignment
* Various metal shafts--you can get hardened precision shafts from mcmaster, which fit exactly into the bearings. Getting a precisely sized, hardened shaft is more important if there are actual loads in the system (not here!) since the bearings will wear out otherwise. Don't try to hack saw these babies--you'll just be grinding down the teeth. Dremel required. A 1/2" shaft was used for the bearings and a 1/4" shaft to fit into the drill chuck.
* Shaft Coupling - this is the key to avoiding any hard-to-do precision setup. If you look at the pic, the drill is off angle from the encoder shaft, but the rubber webbing in the shaft coupler makes this a non-issue. It also converts between the different shaft sizes.
* Double Sided Tape - this worked great to hold the drill in place
* Laser Printer to make encoder wheel and an opto interrupter to count the ticks as it turns.
* Masking tape to increase the shaft size to hold the solder spools
* LCD Screen, Female-Female wires, bread board, angle brackets, wood
* Hot Glue gun!
* Drill, Saw, Screws (machine and wood), Screw Driver
Step 1: Setting up the home-made encoder
The black U-shaped piece is an opto interrupter, which basically has a beam that gets broken by the encoder wheel. This triggers an interrupt on the roboduino, triggering a function that keeps track of the current speed and number of rotations.
We used this online encoder wheel generator to print out home-made optical encoder wheels on a laser printer. We taped two wheels together with double sided tape to make sure the black parts were opaque enough.
When the sensor sees the light, it turns on and shorts the arduino input to ground. When it's off, the 10k resistor pulls the line high.