Robot Mechanisms and Mechanical Devices Illustrated - Profe Saul

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182 Chapter 5 Tracked Vehicle Suspensions and Drivetrains Figure 5-16 iRobot’s Urbie, a four-tracked teleoperated robot layout tracks with the least number of additional moving parts, and keeps the vehicle the same length. This last criteria almost exclusively means a reconfigurable layout, one where the length is longer when that is needed, but can reconfigure into a shorter length when that is needed. This concept has been implemented in a couple of different ways, both of which are patented. Figure 5-16 shows the general layout of iRobot’s Urbie telerobotic platform. This layout uses a third actuator to deploy or stow a pair of flipper-like tracks that rotate around the front idler wheels. They are powered by the same motors that power the main tracks, and always turn with them. This layout represents the simplest form of a four-track vehicle, and has very high mobility. The center of gravity of Urbie is located ahead of the center of the vehicle so, with the flippers extended, Urbie can cross crevasses that are wider than half the length of the basic vehicle. This clever location of the cg also gives the flippers the ability to flip the robot over if it is overturned. When the flippers are rotated around so they become very large ramps, Urbie can climb over obstacles that are higher than the overall height of the basic track. There are also other functions the flippers can perform unrelated to mobility, like the ability to stand up. This makes the robot much taller and allows a strategically placed camera to see over short walls.
Chapter 5 Tracked Vehicle Suspensions and Drivetrains 183 Figure 5-17a Same length flippers, sharing middle axle Figure 5-17b A close relative of Urbie’s layout (Figure 5-17a–b) is one where the track pairs are the same size, with the cg located very close to the shared axle of the front and rear tracks. With two actuators to power each of the four tracks independently and a fifth actuator to power the pivot joint a
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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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110 Chapter 3 Direct Power Transfer
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130 Chapter 4 Wheeled Vehicle Suspe
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Page 240 and 241: 202 Chapter 7 Walkers when crossing
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Page 252 and 253: 214 Chapter 7 Walkers ROLLER-WALKER
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232 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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