Robot Mechanisms and Mechanical Devices Illustrated - Profe Saul

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78 Chapter 2 Indirect Power Transfer Devices Figure 2-6 Polyurethane-coated steel-cable "chains"—both beaded and 4-pinned—can cope with conditions unsuitable for most conventional belts and chains. Figure 2-7 Plastic pins eliminate the bead chain's tendency to cam out of pulley recesses, and permit greater precision in angular transmission.
Chapter 2 Indirect Power Transfer Devices 79 Figure 2-8 A gear chain can function as a ladder chain, as a wide V-belt, or, as here, a gear surrogate meshing with a standard pinion. shown in Figure 2-8. This is sometimes called plastic ladder chain. It is a double cable form and is the kind that looks like a roller chain, except the rollers are replaced with non-rolling plastic cross pieces. These teeth engage a similar shape profile cut in the mating pulleys. Another form of the cable-based drive wraps a spiral of plastic coated steel cable around the base cable. The pulleys for this form have a matching spiral-toothed groove. This type can bend in any direction, allowing it to be used to change drive planes. Both of these synchronous drive types are cheap and functional for low power applications. CHAIN Chain comes in three basic types. • Ladder chain, generally used for power levels below 1/4 horsepower • Roller chain, for fractional to hundreds of horsepower • Timing chain, also called silent chain, for power levels in the tens to hundreds of horsepower
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vi Contents Commutation 34 Installa
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viii Contents Chapter 4 Wheeled Veh
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x Contents Industrial Robots 258 In
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xii Introduction a unique robot. Wh
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xiv Introduction outdoor and indoor
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xvi Introduction Rapid prototyping
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xviii Introduction Because the phot
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xx Introduction Meanwhile, the opaq
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xxii Introduction Laminated-Object
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xxiv Introduction Figure 5 Fused De
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xxvi Introduction ton. This process
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xxviii Introduction Figure 8 Ballis
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xxx Introduction laser fusing of ce
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xxxii Introduction material to form
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4 Chapter 1 Motor and Motion Contro
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10 Chapter 1 Motor and Motion Contr
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130 Chapter 4 Wheeled Vehicle Suspe
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164 Chapter 5 Tracked Vehicle Suspe
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190 Chapter 6 Steering History In t
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192 Chapter 6 Steering History and
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194 Chapter 6 Steering History Figu
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196 Chapter 6 Steering History Figu
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198 Chapter 6 Steering History forc
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202 Chapter 7 Walkers when crossing
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204 Chapter 7 Walkers Figure 7-1 On
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206 Chapter 7 Walkers Figure 7-4 Tw
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208 Chapter 7 Walkers and the relat
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210 Chapter 7 Walkers Figure 7-10 E
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212 Chapter 7 Walkers Figure 7-12 T
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214 Chapter 7 Walkers ROLLER-WALKER
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216 Chapter 7 Walkers Walkers have
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220 Chapter 8 Pipe Crawlers and Oth
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230 Chapter 9 Comparing Locomotion
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242 Chapter 10 Manipulator Geometri
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266 Chapter 11 Proprioceptive and E
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292 Index CAM-LEM, Inc., xxiii camm
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294 Index (ground pressure cont.) a
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296 Index (mobility systems cont.)
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298 Index shear pin torque limiters
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About the Author Paul E. Sandin is
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Robot Mechanisms and Mechanical Devices Illustrated - Profe Saul

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