Robot Mechanisms and Mechanical Devices Illustrated - Profe Saul

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x Contents Industrial Robots 258 Industrial Robot Advantages 259 Trends in Industrial Robots 259 Industrial Robot Characteristics 261 Chapter 11 Proprioceptive and Environmental Sensing Mechanisms and Devices 263 Industrial Limit Switches 270 Layouts 276 Combination Trip (Sense) and Hard Stop 277 By-Pass Layouts 278 Reversed Bump 279 Bumper Geometries and Suspensions 280 Simple Bumper Suspension Devices 282 Three Link Planar 283 Tension Spring Star 284 Torsion Swing Arm 284 Horizontal Loose Footed Leaf Spring 285 Sliding Front Pivot 286 Suspension Devices to Detect Motions in All Three Planes 287 Conclusion 289 Index 291
Introduction This book is meant to be interesting, helpful, and educational to hobbyists, students, educators, and midlevel engineers studying or designing mobile robots that do real work. It is primarily focused on mechanisms and devices that relate to vehicles that move around by themselves and actually do things autonomously, i.e. a robot. Making a vehicle that can autonomously drive around, both indoors and out, seems, at first, like a simple thing. Build a chassis, add drive wheels, steering wheels, a power source (usually batteries), some control code that includes some navigation and obstacle avoidance routines or some other way to control it, throw some bump sensors on it, and presto! a robot. Unfortunately, soon after these first attempts, the designer will find the robot getting stuck on what seem to be innocuous objects or bumps, held captive under a chair or fallen tree trunk, incapable of doing anything useful, or with a manipulator that crushes every beer can it tries to pick up. Knowledge of the mechanics of sensors, manipulators, and the concept of mobility will help reduce these problems. This book provides that knowledge with the aid of hundreds of sketches showing drive layouts and manipulator geometries and their work envelope. It discusses what mobility really is and how to increase it without increasing the size of the robot, and how the shape of the robot can have a dramatic effect on its performance. Interspersed throughout the book are unusual mechanisms and devices, included to entice the reader to think outside the box. It is my sincere hope that this book will decrease the time it takes to produce a working robot, reduce the struggles and effort required to achieve that goal, and, therefore, increase the likelihood that your project will be a success. Building, designing, and working with practical mobile robots requires knowledge in three major engineering fields: mechanical, electrical, and software. Many books have been written on robots, some focusing on the complete robot system, others giving a cookbook approach allowing a novice to take segments of chapters and put together xi Copyright © 2003 by The McGraw-Hill Companies, Inc. Click here for Terms of Use.
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Page 8 and 9: vi Contents Commutation 34 Installa
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292 Index CAM-LEM, Inc., xxiii camm
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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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