Robot Mechanisms and Mechanical Devices Illustrated - Profe Saul

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248 Chapter 10 Manipulator Geometries POLAR OR SPHERICAL The third, and most versatile, geometry is the spherical type. In this layout, the work envelope can be thought of as being all around. In reality, though, it is difficult to reach everywhere. There are several ways to layout an arm with this work envelope. The most basic has a rotating base that carries an arm segment that can pitch up and down, and extend in and out (Figure 10-8). Raising the shoulder up (Figure 10-9) changes the envelope somewhat and is worth considering in some cases. Figures 10-10, 10-11, and 10-12 show variations of the spherical geometry manipulator. Figure 10-8 Basic polar coordinate manipulator Figure 10-9 High shoulder polar coordinate manipulator with offset joint at elbow
Chapter 10 Manipulator Geometries 249 Figure 10-10 High shoulder polar coordinate manipulator with overlapping joints Figure 10-11 Articulated polar coordinate manipulator Figure 10-12 Gun turret polar coordinate manipulator
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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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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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Page 240 and 241: 202 Chapter 7 Walkers when crossing
Page 242 and 243: 204 Chapter 7 Walkers Figure 7-1 On
Page 244 and 245: 206 Chapter 7 Walkers Figure 7-4 Tw
Page 246 and 247: 208 Chapter 7 Walkers and the relat
Page 248 and 249: 210 Chapter 7 Walkers Figure 7-10 E
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Page 252 and 253: 214 Chapter 7 Walkers ROLLER-WALKER
Page 254 and 255: 216 Chapter 7 Walkers Walkers have
Page 258 and 259: 220 Chapter 8 Pipe Crawlers and Oth
Page 268 and 269: 230 Chapter 9 Comparing Locomotion
Page 280 and 281: 242 Chapter 10 Manipulator Geometri
Page 304 and 305: 266 Chapter 11 Proprioceptive and E
Page 330 and 331: 292 Index CAM-LEM, Inc., xxiii camm
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Page 334 and 335: 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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