Robot Mechanisms and Mechanical Devices Illustrated - Profe Saul

Chapter 11 Proprioceptive and Environmental Sensing Mechanisms and Devices 287
Figure 11-17
Sliding front pivot
in the most important direction. Springing it back to its relaxed position
can be tricky.
Suspension Devices to Detect Motions
in All Three Planes
The V-groove device can be applied to 3D layouts as well, simply by
making the V-block angled on top and bottom, like a sideways pyramid.
A mechanical limit switch can be placed so that any motion of the V-
block out of its default position trips the switch. For even more sensitivity,
the V-block can be made of rollers or have small wheels on its mating
surfaces to reduce friction.
The simplest suspension system that allows motion in three directions
relies on flexible rubber arms or compliant mounts to hold the bumper
loosely in place. These flexible members can be replaced with springs
and linkages, but the geometries required for 3D motion using mechanical
linkages can be complex. Figure 11-18 shows a layout for an elastomer
or spring-based system. A well-sprung bumper or bumper/shell