Robot Mechanisms and Mechanical Devices Illustrated - Profe Saul

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146 Chapter 4 Wheeled Vehicle Suspensions and Drivetrains Figure 4-15 mechanism Pitch averaging vehicle traverses bumpy terrain. If you attach the chassis to this gear, the pitch angle of the chassis is half the pitch angle of either side rocker. This pitch averaging effectively reduces the pitching motion of the chassis, maintaining it at a more level pose as either side of the suspension system travels over bumps. This can be advantageous in vehicles under camera control, and even a fully autonomous sensor driven robot can benefit from less rocking motion of the main chassis. This mechanism also tends to distribute the weight more evenly on all four wheels, increasing traction, and, therefore, mobility. Figure 4-15 shows the basic mechanism and Figure 4-16 shows it installed in a vehicle. Another mechanical linkage gives the same result as the differentialbased chassis pitch-averaging system. See figure 4-17. This design uses a third rocker tied at each end to a point on the side rockers. The middle of the third rocker is then tied to the middle of the rear (or front) of the chassis, and, therefore, travels up and down only half the distance each end of a given rocker travels. The third rocker design can be more volumetrically efficient and perhaps lighter than the differential layout. Another layout that can commonly be found in large industrial vehicles is one where the vehicle is divided into two sections, front and rear, each with its own pair of wheels. The two sections are connected through
Chapter 4 Wheeled Vehicle Suspensions and Drivetrains 147 Figure 4-16 Chassis pitch averaging mechanism using differential an articulated (powered) vertical-axis joint. In the industrial truck version, the front and rear sections’ wheels are driven through differentials, but higher traction would be obtained if the differentials were limited slip, or lockable. Even better would be to have each wheel driven with its Figure 4-17 Chassis link-based pitch averaging mechanism
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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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72 Chapter 2 Indirect Power Transfe
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Page 148 and 149: 110 Chapter 3 Direct Power Transfer
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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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