Robot Mechanisms and Mechanical Devices Illustrated - Profe Saul

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292 Index CAM-LEM, Inc., xxiii camming, electronic, 11 Carnegie Mellon University, xxx cartesian arm geometry, 246f–247 center of gravity (cg) shifting, 131–134, 132f, 133f cg. See center of gravity (cg) shifting chain drives ladder, 80f rack and pinion, 82f roller, 80–82f, 81f silent (timing), 82–83f chasms. See crevasse negotiation chassis elevation, 132, 134f Cincinnati Milacron, 260 circular interpolation, 10 circular pitch, 87 clearance, 87 closed-loop motion control systems (servosystems), 5–9, 5f, 6f, 7f, 8f, 18 cluster gears, 86f commutation, 26–28f, 27f, 30, 34–35 computer-aided design (CAD), xiv, xvi computer-aided motion control emulation, 10–11 cone clutches, 122f cone drives, 84f constant-velocity couplings, 115f–116f contact ratio, 87 contouring, 10 controlled differential drives, 93–95f, 94f control structures, xiii costs and actuator count, 68 and gearhead installation, 104–105 couplers bellows couplings, 14f–15 Bendix-Weiss joints, 116 constant-velocity couplings, 115f–116f cylindrical splines, 116f–119f, 117f, 118f face splines, 120f flexible shaft couplings, 14f helical couplings, 14f–15 Hooke’s joints, 114f of parallel shafts, 115f Crawler Transporter (NASA), 165 crevasse negotiation, 163–164, 166, 234 Cubital America Inc., xx cylindrical arm geometry, 247f cylindrical splines, 116f–119f, 117f, 118f D dark fringe, 58 DCDT. See linear variable differential transformers (LVDTs) dead-reckoning error, 196 debugging, and actuator count, 67–68 dedendum circle, 87 degrees-of-freedom (DOF) in manipulator arm geometry, 241–242, 245 degrees-of-freedom (DOF) in manipulator wrist geometry, 250–251f in walker mobility systems, 203–208, 204f, 205f, 206f, 207f depth, in gears, 87 derivative control feedback, 9 design tools, xiv diametrical pitch (P), 87 differential, 139–140f Directed-Light Fabrication (DLF), xvi, xxix(f)–xxx Direct-Metal Fusing, xxix direct power transfer devices couplers Bendix-Weiss joints, 116 direct power transfer devices couplers, 14f–15, 109–113f, 110f, 111f, 112f bellows couplings, 14f–15 constant-velocity couplings, 115f–116f cylindrical splines, 116f–119f, 117f, 118f face splines, 120f flexible shaft couplings, 14f helical couplings, 14f–15 Hooke’s joints, 114f of parallel shafts, 115f torque limiters, 121–125f, 122f, 123f, 124f Direct-Shell Production Casting (DSPC), xvi, xxvi(f)–xxvii drive/steer modules, 195f–197f drop on demand inkjet plotting, xx, xxviii(f) DTM Corporation, xxi dynamic stability, 201–202 E E-chains, 243f electric motors. See also direct power transfer devices; indirect power tranfer devices drive/steer modules, 195f–197f linear servomotors, 17–18, 31–37, 32f, 33f, 34f in motion control systems, 3, 4–5, 20–21, 71 permanent-magnet (PM) DC servomotors, 16–17, 18t, 21–31, 22f, 23f brushless, 26–31, 27f, 28f brush-type, 22–23, 26f cup- or shell-type, 24–25f disk-type, 23–24f
Index 293 (electric motors cont.) stepper motors, 16, 18t, 37–40, 71 hybrid stepper motors, 38–40f, 39f permanent-magnet (PM) stepper motors, 38 variable reluctance (VR) stepper motors, 38 electronic camming, 11 electronic commutation, 26–28f, 27f, 30 electronic gearing, 11 encoders absolute encoders, 46f incremental encoders, 44f–45f linear encoders, 47f–48 magnetic encoders, 48f–49 rotary encoders, 6, 7f, 13, 19, 43–44 end-effectors. See grippers (end-effectors) environmental sensing switches, 265, 266. See also limit switches, mechanical EOS GmbH, xxi epoxy-core linear motors, 33–34f external gears, 88 external pipe vehicles, 226 F face gears, 90 face splines, 120f Fanuc Robotics North America, 260 feedback sensors. See also limit switches, mechanical accelerometers, 132 encoders, 43–49 inclinometers, 132 Inductosyns, 57 linear velocity transducers (LVTs), 55 in motion control system, 3, 43 position feedback, 19–20 selection basis, 20 tachometers permanent magnet (PM), 52–53 shunt wound, 52 feedback sensors angular displacement transducers (ATDs), 55–57, 56f in closed loop systems, 5f–7f, 6f encoders absolute encoders, 46f incremental encoders, 44f–45f linear encoders, 47f–48 magnetic encoders, 48f–49 rotary encoders, 6, 7f, 13, 19, 43–44 laser interferometers, 7f, 13, 20, 57–59, 58f linear variable differential transformers (LVDTs), 20, 53f–55, 54f position sensors on ballscrew slide mechanisms, 7f (feedback sensors cont.) precision multiturn potentiometers, 59f–60 resolvers, 20, 30f, 49f–51 tachometers, 5, 20, 51f–53, 52f flat belts, 73, 74f flexible belt torque limiters, 122f flexible face-gear reducers, 100–101f flexible shaft couplings, 14f foot size, walker, 210f frame walking, 211f–213f, 212f friction clutch torque limiters, 124f friction disk torque limiters, 124f friction drives, 83–84f Fused-Deposition Modeling (FDM), xvi, xxiii–xxv, xxiv(f) G gait types, walker, 201–202 gantry manipulators, 246f geared offset wheel hubs, 134f gear efficiency, 88 gear power, 88 gear ratio, 88 gears, 85–105 bevel gears, 102, 103f cluster gears, 86f flexible face-gear reducers, 100–101f gear classifications, 88–90 gear dynamics terminology, 88 gear terminology, 87–88 gear tooth terminology, 86f harmonic-drive speed reducers, 96–100, 97f, 98f helical planetary gears, 103f high-speed gearheads, 102–105, 103f planetary gear drives, 95–96f, 105f worm gears, 90–93, 91f, 92f gears, electronic, 11 gear speed, 88 General Electric, 260 General Motors, 260 Genghis (iRobot), 205 grass, 233 grippers (end-effectors) direct drive jaws, 252–253f parallel jaws, 254f–255f passive capture joint with three DOF, 256–257f passive parallel jaws, 255f–256f rack and pinion jaws, 253f reciprocating lever jaws, 253f ground pressure and mobility system comparisons, 233, 236, 237 and tracked mobility systems, 163, 165
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Copyright © 2003 by The McGraw-Hil
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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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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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194 Chapter 6 Steering History Figu
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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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Page 338: About the Author Paul E. Sandin is
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