Robot Mechanisms and Mechanical Devices Illustrated - Profe Saul

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158 Chapter 4 Wheeled Vehicle Suspensions and Drivetrains Figure 4-30 Two part, eight wheeled, vertical and roll joints For a truly complicated wheeled drive mechanism, the Tri-star Land- Master from the movie Damnation Alley is probably the most impressive. This vehicle, of which only one was built, is a two-section, center pivot steered layout with a Tri-star wheel at each corner. The Tri-star wheels consist of three wheels, all driven together, arranged in a three- Figure 4-31 Two part, eight wheeled, vertical ball joint
pointed star on a shared hub that is also driven by the same shaft that drives the wheels. When a bump or ditch is encountered that the wheels alone cannot traverse, the whole three-wheeled system rotates around the center hub and the wheels essentially become very large cleats. The Tristar wheels are driven through differentials on the Land-Master, but powering each with its own motor would increase mobility even further. Chapter 4 Wheeled Vehicle Suspensions and Drivetrains 159
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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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100 Chapter 2 Indirect Power Transf
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Page 148 and 149: 110 Chapter 3 Direct Power Transfer
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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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