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    Unicorn Robot - All Chapters from Chapter 1 to Chapter 11 . Build Your Own Robot Manual,

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    Unicorn1 Robot

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    550 views54 pages
    Unicorn Robot - All Chapters from Chapter 1 to Chapter 11 . Build Your Own Robot Manual,

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    Unicorn Robot - All Chapters from Chapter 1 to Chapter 11 . Build Your Own Robot Manual,

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    550 views54 pages

    Unicorn1 Robot

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    TheOldRobot
    Unicorn Robot - All Chapters from Chapter 1 to Chapter 11 . Build Your Own Robot Manual,

    Copyright:

    © All Rights Reserved
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    of 54
    SB , [=| [ ite} $1.25 AUG. 1980 6 audio test accessories to build The ultimate turntable pickup arm? Tuning in worldwide SW stations Inside a VHS videotape recorder Step-by-step TV IF alignment Build your own raceway videogame BUILD THIS JAMES A GUPTON, JR. ROBOTS ARE BECOMING VERY HOT ITEMS. ‘They have already made a name for them- selves as movie and TY stars, chess play- ers, artists, typists, advertising men, and assembly-ling workers in. Detroit. This past April. a three-day conference and an ‘exposition on robotics was held in New York, This series of articles detailing the con- struction of a robot called Unicorn-One (a name loosely derived from Universal Comttoliable Robot) may not tell you how to build a device as elegant or articulate as C3-PO. but it will explain, step-by-step, hhow to design and assemble a robot that will be fully mobile, with manipulator arms to grasp, lift, and carry. Those fea- tures, in combinetion, will enable your robot to perform a wide variety of useful functions. Unicorn-One is truly universal. The same robot body you will build can be ‘operated from a control panel linked to it by cable, by remote radio control, or even by computer, It will even te possible to add an on-board computer t0 give the robot the ability to “think” for itself. As you will see, Unicorn-One’s expansion ‘capabilities are really limited only by what you want it to do, The first parts of the series will deal with the construction of the mechanical portion of the robot—the object being to build a working mechanism for a reason: able amount of money. You'll be shown how just a few com- mon tools can be used to work steel and aluminum to almost machine-shop per- fection. Witha litle ingenuity. an opera- tional version of Unicorn. UNIS Aol NicoRN-1 ROBOT Ready for your own robot? You can construct one by following this multi-part series—and you won't need an engineering degree or special equipment, either. built for about $200, Even if you pur- chase everything off the-shelf, the cost should not excced $400, Easy-to-follow iestructions will be pro- ‘vided to assist you in the assembly of the robot's manipulators (arms), end-effec- tors (hands), body, and mobility base, and will detail ail wiring necessary to power {ts moving parts. For convenience, this wiring will be brought out to a terminal strip, where it can be connected to what- ‘ever typeof control equipment you desire tose. Later installments will describe how the robot can be controlled in any of sev- eral different ways—from a cable-con- nected console or by radio link, providing for both manual and computer-conteolled operation. Provision is also made for the installa- tion of an on-board computer which can be programmed in advance, repro- grammed in mid-sequence, or even left to ‘operate on its own, The final portion will discuss ways of providing Unicomn-One with senses such as touch and sight, giving it a way 10 understand and communicate with peo- ple, and, in addition, giving it the ability to react to its environment without hu- ‘man intervention. Basic mechanical components Since we are building a robot from scratch, it might bea good idea to become familiar with some of the major compo- nents which affect is operation, There are two clectro-mechanical parts which are used to impart motion to the robot—motors and solenoids. Motors are used for continuous motion {in the mobility base, for example, to get from one place to another, or in thearms, for lifting). Sotenvids are usually used for “one-shot” effort—siy. opening or elos- ing a grasping member. Several different types of motors are used in Unicorn-One. Typically, they are low-voltage, high-speed, DC motors which are slowed down (they operate at several thousand RPM) to do what we want them to. That slowing-down is accomplished by gears, which gives us two benefits. First. the rate of speed is reduced to a “real-world” level and, second, cach time the speed is reduced fy half, the torque (effective power) is doubled. That allows ts to use inexpensive motors to give our robot a reasonable amount of strength. ‘Ths same principle is used in automobile trans . (You can spin your wheels in low gear, but you can't start to build up any real speed until you get into sccond or higher.) in mechanical terms, if 2 spins at 6000 RPM, it won't do ‘much for our robot arm unless itis geared down to make the action slower and more powerful. If we attach a |2-tooth gear to the motor, and mesh that with a 24-tooth gear, we'll achieve a speed reduction of :2 (12:24) and, at the same time, double the effective power of the motor. Every time the twelve-tooth gear turns once, the ‘other will make only half a reralution, while transmitting the full power of the sn—which, if you iginal power of add it up, doubles the the motor. & ove: snony RADIO-ELECTRONICS GLOSSARY Anti-backlash gear- ‘Gear used to reduce or eliminate backlash, ‘See BACKLASH, GEAR. Angular motion—Rotary motion about an axis, as in the case of whools er gears. yeklash—Unwarted "rebound movement in gear systems re- ‘sulting from inertia. Center punch—Pointed tool used to indent the surtace of hard ‘materials for marking purposes or 10 forma start- Ing point for deling Computer control—Direction by means of instructions pro- ‘grammed into a computer. End-etfector—Unicorn-One's “hana Gear—Toothed whee! or cylinder that meshes with another to ‘vansmit motion or 10 change speed or direction. Gear ratio— The relation between the number of teeth on one gear ‘and another. The higher the ralic, the greater the reduction in speed and the greater the increase in torque Manipulator—Unicorn-One's “arm Mobility base—The part o* the robot that gives It locomotion. Radio control—Direction by means of instructions transmitted by radio to a receiver located at the object being controtied, Robot—Machine :hat works automatically or ty remote-control Generally assumed 10 be maniike In shape and function. NASA's space and planetary probes, however, are robots, land they don’t look the least ike us, Robotios—The science of robots. RPM— Revolutions per Minute Scribe—Pointed tool used to mark hard surfaces to indicate areas 0 be cut, sawed, oF drilled Sensor—Device which responds to a stimulus. A photo-clectric coll would be ar example of a light sensor. ‘Shalt—Rotating rod or bar which transmits mechanical power Solenoid—Eleciromagnet with a ferraus-metal rod through its| ‘core. An induced magnetic field ceuses the rod to| move in ar out of the core, Sprocket gear—Large-toothed gear whose teeth ride in tha links | ‘ofa chaln and impart motion to it ‘Switch-control—Operation of an electrical or electronic device: through the opening or closing of a circuit T—Abbrev. for “teeth.” ‘Tap—Serew-lke cutting too! designed to cut threads into drilled holes: Tap drii—Dril bit whose diameter ts best suited for use with a Particular tap. Thread—Spiral or helical ridge of a sc-ew, bolt TPi—Abbrev. for threads-per-inch, Torque—Force that produces a twisting or rotatng motion Unicorn—Universal Controllable Robot ut, ete. Using various gearing systems'we can ‘easily reduce the speed of a {0,000 RPM motor to an effective 167 RPM, allowing us {0 use that motor to give real-time motion to the robo’s arms. If we use what is known as a worm gear, we can not only change the speed of the motor—and increase its torque—but also change the direction of the motion, Such an effect can be used effectively in the robot's mobility base. Various gear assemblies can also change a motor’s output from angular {around the axis of the shalt) to linear— that is, from rotary to streight-line, as would 'be needed in order to push a “hand” forward. Gears can also be used simply to change movement from one direction to movement. in another (say, through an angle of 45°). “The sevond type of motor used in Uni- corn-One is the stepper motor. That type of motor responds by turning just a little bit for each electrical pulse it receives Thus it is possible to more a stepper motor just fraction of a degree at a time, as might be required in steering the robot. If large amounts of motion are required, multiple pulses are applied. In addition to the motors, we also use solenoids to control the robst’s motion. A solenoid is an electromagnet which has ferrous-metal core, When the magnet is energized, the core—usually a free-slid- ing metal rod—is either pulled into, or pushed out of, the magnet’s coils. Uni- corn-One uses solenoids to actuate its grasping members (hands/fingers). If power is applied, the solenoid is actuated and pulls the core inwards. That move- rent causes the “fingers” to close and to rasp the object in question; the grasp will be maintained until power to the solenoid is cut. Some solenaids also incorporate gears. LUNICORN-ONE nearing completion. Humans at work give idea of robot's size. ‘and rotate the gears, and their attach- ments, through a specified angle, when they are actuated. (They may turn a wheel 45° at a single, momentary com- ‘mand, for instance.) Finally, we have to consider fimie switches. ‘Those are absolutely necessary to the well-being of the robot. If we actu- ate a motor and do not, later, tell it 10 shut off, we are liable to do damage to the ‘mechanical parts of the robot or even to burn out the motor itself. The limit switeh is a device which senses when a ‘mechanical part has reached the predeter~ mined limit of its travel and opens (or closes) the appropriate electrical cricuit to stop the device which is causing the part to move. Limit switches are an inex- pensive way to give a measure of control to your robot without your having to pey attention to its every movement, In addition to the above, we will also use cables and pulleys, anti-backlash gears, bearings, and other mechanical de- Vices to give motion to Univorn-One, ‘AS we encounter these various compo- renis in the construction of Unicorn One, we'll gointo a greater description of their function and operation, and explain ‘why we are using ther. Manipulator construction The construction of a robot, judging from the available literature, is an expen- sive proposition, involving skills, materi- als, and tools not normally encountered in the type of projest presented in Radio- Electronics. We'll dare to be different here, however, and show you how you can build Unicorn-One using tools you probe bly have on your work bench and materi- als that are easy to come by. Even if you have never worked with metals before, we'll provide you with the knowhow to construct a working robot. ‘The drawings in Fig. 1 show the dimensions for a robot of idea! size. You may, however, decrease or increase those dimensions to suit your budget or needs. Bear in mind that, for radio or remote control, where the power source must be self-contained, the robot's overall weight becomes a very important factor and you may want to deviate from the dimensions given. The first portion of Unicorn-One that we'll construct will be the manipulators (arms). They will be fabricated from steel rod and alurninum plate, and. dimensions and instructions for the metelworking will follow. We'll describe the construc- tion of one manipulator. If you want a twoarmed robot, do everything twice Before you proceed, though, read and heed Ue following’ precautions about metalworking © Always wear safety goggles or ‘lasses when sawing, driling, tap- FRONT PROFILE 190" —— 4 | @OOGOO 20 os Q ROBOT CONTROL SYSTEMS noeoT Ans ROBOT MOBILITY BASE BOT ORIVE TRAIN BOT noDy STRUCTURE RowoT 800 ROTATOR LEFT SIDE PROFILE MOBILITY BASE ‘TOP VIEW sorrow view A A ® > '+$——19.90" ——f k+-———15 50" ——>| Fig. 1—DIMENSIONS of Unicorn-Ono as described In text. Size Is not critical, though, and seala or ‘dimensions may be atered to sut the requirements ofthe buldor. ping or fling metal (or wood or laste} «= River wear tis oF loose thing when perating power tools ‘+ Hold tools properly and. make Sure pieces being worked on can- not move around The instructions which follow are in- tended to be used in conjunction with the diagrams which accompany them. Do not try torely only on onc or the other. Ifyou have a question, the diagrams can proba bly supply the answer if you study them, Basically, there are only two different diameter steel rods used to make all the ‘manipulator sections. The eross members are cut from 0.375-in. (Ysin.) steel rod and the side rods from 0.2497-in, (/s-in.) material, The threaded steel rod is % inch, in diameter with 20 threads-per-inch, ‘The shoulder and elbow hinges, and the two contractor-bar pivots, are cut from 0.250-in. (Yein,) aluminum plate The aluminum parts should be made first since they require more work than the red sections. To keep costs low, use secap material wherever you can, ‘The first step is to mark the dimensions of the aluminum part. Do that with a scribe, pointed nail, or even a knife. Don’t use pencil, since it rubs off easily. When ‘you cut the part, cat along the outside of the lines. You can always file off exces but it's impossible to put back a little bit too much you removed while cutting. Use a vise to hold the picce steady and use a SS" vance > SHOULDER HINGE FP” es arm CONTRACTOR-BAR Pivor LAA FOREARM CONTRACTOR-BAR PIVOT Fig. 2 DETAILS ofthe auminum parte which must 90 fabricated. tool crase-bar rod i also shown 23 ‘an example, Note that thre ere several diferent versione ofthis part hacksaw blade with 24-32 teeth-per-inch to give a smooth cut The shoulder-hinge sections are 1wo rectangles, 1X 1.4 inches, drilled to accept two '/vinch rod sections (Figs. 2 and 5). There are two ways by which the steel rods can be secured to those hinge sections: a ‘/ivinch hole can be drillled through each for use with roll or dowel pins, or a No. 44 bit (.086 inches) can be used 10 make @ hole which ean be tapped for a 4-40 machine screw. Figure 3 shows some of the taps and tap drills that can be used in the construction of the robot. For the elbow hinge (Fig. 2), outline the parton the aluminum plate and, using 1 punch, mark the places where holes will be drilled. Saw out a rough rectangle and drill the .375- and then the .136-inch holes. With the holes drilled, the part can be cut and fled down to the proper size. > ‘The two contractor-ter ‘pivot. pinta (Fig, 2) requirea litle more work. Agtin. cut the paris roughly to size (see Figs. 2 and 5). As inthe shoulder-hinge pices, cither a dowel pin, or a 4-40 machine § RADIO-ELECTRONICS fig. 3—TAPS AND TAP DALLS. First number Fig. 4MANIPULATOR ASSEMELY. Finishes nt und separate pieces are facing opposte ways. screw, may be used to frovide the pivot support. The upper-arm pivo: part has a tapped 7-20 hole for the '/-20 threaded rod used 0 provide elbow action. That hole may be made either with a #7 bit (207-in.) and :apped to 20 or drilled out slightly larger—413 in, minimum— nce sree. Gans cyossean_——| aRaevo seat foo crossean n00s Bo END EFFECTOR" 2128. ; ONTRACTOR BAA 40. ai asl _h be—s. eae St Locarion oF cowrracron SAR PVDT POINTS: 210+} 1.125 —>} USE NUMBER 43 DRILL (0.083) ‘SECURING 0.2497 RODS To t A dare cRose-baa Roos <287 OIA. ROD (ela TaPs4o Use nuMBeF 19 DRILL (06) aes: ies 4 Teren To assewety usenuwaer20 he" shawis ALL DIMENSIONS IN INCHES BRILL (0.130), TaP SSECTEXT AND LATER RSUES hia AND VIEW oFaIs0IA, —SEETEXTAND LATER 18 Ty teeth ons Fig 6—SIDE AND TOP views of the assembled maninulatr.Endcatfector and contactr-bar wil he covered inthe next instalment. cept a threaded insert, which will give a smoother action. The latter ap- preach is preferred, but the former will give satisfacory results, provided the work is done with care, Both pivot parts should be carefully cut and filed to shape. To prepare the six stcel cross-bar rod sections, cut each length slightly longer than called for. There will be two 3.25- inch sections. two 2.6-inch sections, one Fig.7—MOTOR AND GEAR arrangement used! 10 ‘rive tread rod, a8 described In text, ons t = fs aT ary 8 5 Ai aK © g | F ——as7 ox ee tovrnacronean.| —"} pvor ory Bat Bist FOR UNUARKED HOLES SE FIGS.2AND 6 FOR SIZES | ALL OMENSIONS IIMGNES PART OIAMETER 0375" STEEL DD FART I$ A780 SECTION OF 1420THREADED ROD 218 oe = os jena Fig. 5FABRICATION AND ASSEMBLY details ofthe manipulator. : would be @ good le to make a c0py ofthis and keep k near your workench for re'erence PARTS LIST \ |supptier \ supplier's item Size Quantity | partno. |Supptier item Size jects asim Steel rod 0.2497 mn. | 72in. ‘SR 500 a Dowel pins. 0p 0.0625 in. 6 | D16-625 | ® ‘am | hsincong Steetros —fozasrm, | rain. | sia | @ or | | sem | | | stoscews |asontain | 6 | zo-a | sweiod _|0.375in. tam) agin. | snavs | @ | dora Seared |ostarw sem | ss 8-02 screws “ 8 diam. | oosasin jexiein. | sacas | @ | thee 2 |pazsre) © = | "iam. shot | Sheet aluminum |0.250 in. thick | 1x 18 in. SA.250-18| @ shee 0.250/n. thick 1.8 x6in.*|SA250-9| @® SUPPLIERS: ‘The Robot Mart Thessedinsent [opoatsin. | 2 | Two | @ maths Beet Pl 20 few sain st. Trweaded rod r4in, [rR 25020| @ peor tes Thweaded rod win | 7 | @ Reduction gears|20r. 0458 | 2 |G20r-48| @ ‘iam. bore, ae. pitch | tion gears | 48 T. 1-i = 2 G 487-48, 101 East Gloucester Pike eduction g — in | g Barrington, NJ 08007 Shattcolar joposoi | 4 | css | @ NOTES: Items grouped together are interchangeable, lems 100.2497 in marked with = Vaclities for end-etectors, shancome [epogom | 4 | csr | @ Suppliers shown are not necessarily the only sov‘ee for 100267 a) items indicated 0526" x 1.00" X575" ALUMINUM “LENGTH VARIES WITH MOTOR USED Fig. ATTACHMENT OF DC motor to sido rods. Clamp dimensions wil vary according othe pertcular motor ved. 2.l-inch section and one 1.5-inch one. Lock each piece into the chuck of a vari= able-speed electric drill and remove the saw marks by running the drill slowly and filing the rotating rod. When the saw marks have disappeared, angle the file approximately 45° to the rotating stock and lightly bevel the end of the section. Reverse the rod and repeat the procedure on the other end. Next, with the rod still in the chuck, polish its surface with “A’ grade silicon-carbide paper. That will the rod a high-luster finish and remove any remaining surface scratches. ‘The procedure is best carried out by two people. Carefully drill the rod. sections to receive the 0.2497 in. side rods. Fach hole drilled must be perpendicular to the rod and parallel to the other hole. If they are available to you, a drill press and block should be used to make sure ofthis. To allow the arm to taper, enlarge the holes slightly by “wobbling a hand-held drill in them, Figure 4 is a photograph of a fully assembled manipulator (with end-elfec- tor) and assembly details are given in Fig. 5. Also refer to Fig. 6. Those should help you to picture what has to be done, and where Drill into both ends of five of the six rod sections using a No. 29-bit (.136 in.) Use a punch to mark the center of the rod's diameter and to avoid slippage of the bit. Drill deeply enough to penetrate the 250-inch side-rod holes made previ- ‘ously. One of the 3.25-inch sections—the fone which will be used at the top of the arm—gets a .250-inch hole, | inch deep, in one end. That will later be used to anchor the arm to the body. ‘Assemble the two 3.2S-inch eross-bar rods and the rectangular shoulder-hinge plate, Use a center punch to mark the rods through the .136-inch holes in the plate. Take the assembly apart and use a No. 19 bit (.166 in.) to drill into the rods at the four places marked. Then tap those holes for an 8-32 thread. Also use an 8-32 tap on the .136 in. holes which were drilled into both ends of five of the rods, Check your work against the diagrams continued on page 76 ‘0961 usnony = 3 RADIO-ELECTRONICS The world of | electronics gee-wizardry | -YOURS FREE. | s2-pages of test insteuments —teom tho latest eigltat multmaters to the lamaus ElCO scopes. Security systems, Auto motive and hobbyist products. Kits and | assembled. E1C0 quality. E1GO voluo. For FREE cataiog, check reader service | ear oF send 50¢ for tist class mai | South Ro M] Hicksville, Nv, 11801 | ICM TV-4200 GROUND htop, ntematona) incorporates advanoed tech Le nology at its best in a fully packaged and ‘assembled receiver covering al satellite chan: nels 3.7-4.2 GHz band. Standard dual audio outputs provided at 6.2 and 6.8 MHz. MENSIONS ‘The ICM TV-4200 Satelite Receiver wi Price $1,995 ‘GIRGLE § ON FREE INFORMATION GARD Saas eAsy To use ower supply, tuner Control circuitry and power cable. Shipping weight 12 Ibs, UNICORN-1 continued from page 41 to make sure that you have not omitted a step. It will be very frustrating if you are halfway through assembling the arm and discover that you have to take it all apart again to drill one small hole that you omitted earlier. ‘Arm movement ‘The upper-arm assembly includes a section of '%-20 threaded rod which, when rotated by the elbow motor, allows the robot to flex its arm. The threaded rod, which passes through the threaded hole in the pivot slide bar, will move that bar one inch for every 20 revolutions it makes. Using the dimensions given, this will produce a maximum travel of 5.5, inches. A motor turning at 6600 revolu- tions per minute would be required to flex the elbow through 90° in four see- onds. ‘The most readily available motor, how= ever, turns at 10,000 RPM and would ‘make that action too fast. If we add a one-inch diameter, 48-tooth gear to the threaded rod, and a ‘inch, 20-tooth gear to the motor, we reduce the effective speed of the motor by $0% and can achieve full elbow action ina bit under ten seconds. Figure 7 illustrates that arrangement. Note that the threaded rod has a collar secured to it by a set screw. Wleps 20 Clever KI Test prabes designed by you Iovelenee at Reps sing Aeneots Banana plug of bare Kiops 20. Sore. nt 7” lone Write for complete eataog of Connectors. eatphones, hesdeets, miniature components “Available through your local im distributor, or write to. RYE In Canac 5 de) Wepa 10. Goatheck clamp eros wires, legs for hah line work (rt ab quality) 133 Spencer Place, Mai ‘The collar prevents the rod from being pulled upward by the motor. Figure 8 shows a clamp joining the ‘motor and the side rods of the upper arm. That clamp is made from a piece of “ie x |-in, sheet aluminum flared to accept an 8-32 bolt which applies tension to hold the motor in plaee. While the preceding may sound some- what complex at first reading, it can be done and will yield a perfectly workable robot arm. You are encouraged 10 use surplus sheet metal, rods, and gears to keep costs down. For convenience sake, however, a list of components and their sources is shown in the parts list. The next part of this series will de- seribe the assembly of the manipulators and will cover the construction of the robot's end-effectors (hands). In addi- tion, we will go into the electrical wiring ‘Should you have a question about any part of this series, the author may be Teached in care of Radio-Electronics. Please enclose a self-addressed, stamped envelope with your inquiry to insure a prompt reply. RE American Heart . Association 40 ieps 1 eps needs —Push to sae, push Reps 30. Completely feuible. Frkedtongue anpper Ac ‘apts banana plu or bate lead 6 long | Keps 40: Completely ene. 3seement automatic callet fi os teen, Rc bid tans, ome Bs 4 . cepts banana plug of plan nite. 624" long Solder connection. Moldes ‘Bunch pints banona test probes, plugs, sockets, Prat 30 INDUSTRIES ING, roneck, N.Y. 10543, da: Rye Industries (Canada) Ltd, CIRCLE 8 ON FREE INFORMATION CARD. AUTO ATS Unicopn-1 ROBOT Part Il—By the end of this section, your robot's arm will be operational. Here are instructions for completing the arm, and for building several types of hands. UNICORN-ONE IS A ROBOT THAT YOU CAN build for between two- and-four hundred dollars, depending on your ingenuity and serounging abilities. I is fully mobile and has the ability to use its ar I can be controlled by a cable link to a conscle, by radio control from 2 console, or in conjunction with a computer. The first part of this series described some of the components used in the robot's construction, and covered most of the assembly of its manipulator(s) (arms), In this installment we will complete Unicorn-One’s manipulatorsand build iss end-effeciors (hands), From time to time ‘we will present you with certain options that you may or may not want to include in your version of the robot. Remember that one of this project's objectives is 1 build 2 working robot, but ata reasonable cost. When you start add- ing frills—which you may consider ne- cessities—that cost is going 0 go up. It might be wisest to start with the essen- tials, to prove that what you have set out to do can be done, and io add the extras luter. Unicorn-One was designed with that plan in mind and all the options described—as well as most extras that you'll think of yourself—ean be added erward, with no major aicHTeLaoW Moron Since Unicorn-One is « mobile robot, sheen BB] sncen ius intended that he cary his own power ‘ORANGE nance s SIGHTWHEEL MOTOR source with him. He obviously can't run reo neo +1206 ‘on flashlight batteries—in faci he needs: BLACK ten to twelve amps at 12 volts. The most E economical way of obtaining this powrer i MOUNT 4 BARRIER STAIPS ON 1700" Nore ALUMI ANGLE T"X 1°17" ALL DIMENSIONS IMINCHES through the use of a conventional lead- acid battery. ‘A motorcycle battery, mounted as shown in Fig, 25, will do the job nicely (Note the plate 19 the left of the battery, which brings its leads to the outside for recharging purposes.) A frame should be ‘continued on page 126 (0961 380190 B FAoIo-ELeCTRONIGS ‘INGLE 27 ON FREE INFORMATION CARD BUILDA MASTERPIECE OF SOUND percussion and sustain. Wers's famous String orchestra and tues guitar. Excl sive Sound computer for 32-23 "Une Stop Sounds” (tatel organ presets), ‘Transposer. Andlots more, Build your own masterpiece of soune: No techn! knowledge ro Just follow the clearly tus ated. eacj to understand instructions Step by step. Choose from at least 10 ‘models. (Als0 factory assernbec) ‘Send $6.00 with coupon for your Werst Demo-Package (LP with 104-page color catdou} OWERS!| \Weersi has combined select features of the electronic music neld, added its own creations and years of research by top tengingers and musicians. to produce an Incomparable ine of organs ‘Space-age technology, True-to-Hfe vote. log wit full drawbar system, Polyphonic THE MEAN ‘ 1 LITTLE KIT Want to cut out ! acareerasa ; two-way radio ' technician? | Bvt otters the only training for I protessional FM two way radio E 1 valabie’ Oualtied tochnciare A | g ateempleyes in government. in- New compact 24-piece kt of destronic re ch er ga Rideyp "tres, ineudey 7 nues | | H You could cut aut a careor 26 encased toh, "2 par | | 9 two-way radio technsion by Ranks rile, hexkey vel ciwors, 2fext: | | Ht sena'gou nlormacn oo now you Ue les, Barnnher, (ministre soldering | | can learn mere about this spe- i soldering Bald, tien t cual paced Sneha Nake: si. bens, Himanieed “Send check compare ote” || F Name 1 kage end oF chorge ica Brngarhen ‘ardor Mtercharge We poy 1 Adcress 1 ‘arses 1 iy 1 STK6 Tool Kit cs ten 1 : : BK gees FREE cataLoG 1 i 5 eee MT 1 pe ' es Mobile Training) ! Institute JENSEN TOOLS INC. UNICORN 1 continued from page 95 Fla. 25—MOTORCYCLE BATTERY used to omer rbot. See text for imports mounting Drecautiens. uusod to hold the battery in place and to support its weighs, since the plates that cover the mobility’ base are probably not strong encugh to do this by themselves, tutions must be observed type of battery! Asshowa in the photograph, the battery is unen- loved, which means that there exists the possibility of sulphuric acid, the battery's electrolyte, spilling on the aluminum oF stee! of the mobility base, You do act want this to kappen! The battery should versions of the robot) proof plastic contain- er to contain any possible leaks or drips. This container should

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