Robot Mechanisms and Mechanical Devices Illustrated - Profe Saul
Robot Mechanisms and Mechanical Devices Illustrated - Profe Saul
Robot Mechanisms and Mechanical Devices Illustrated - Profe Saul
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Index 293<br />
(electric motors cont.)<br />
stepper motors, 16, 18t, 37–40, 71<br />
hybrid stepper motors, 38–40f, 39f<br />
permanent-magnet (PM) stepper motors, 38<br />
variable reluctance (VR) stepper motors, 38<br />
electronic camming, 11<br />
electronic commutation, 26–28f, 27f, 30<br />
electronic gearing, 11<br />
encoders<br />
absolute encoders, 46f<br />
incremental encoders, 44f–45f<br />
linear encoders, 47f–48<br />
magnetic encoders, 48f–49<br />
rotary encoders, 6, 7f, 13, 19, 43–44<br />
end-effectors. See grippers (end-effectors)<br />
environmental sensing switches, 265, 266. See also limit<br />
switches, mechanical<br />
EOS GmbH, xxi<br />
epoxy-core linear motors, 33–34f<br />
external gears, 88<br />
external pipe vehicles, 226<br />
F<br />
face gears, 90<br />
face splines, 120f<br />
Fanuc <strong>Robot</strong>ics North America, 260<br />
feedback sensors. See also limit switches, mechanical<br />
accelerometers, 132<br />
encoders, 43–49<br />
inclinometers, 132<br />
Inductosyns, 57<br />
linear velocity transducers (LVTs), 55<br />
in motion control system, 3, 43<br />
position feedback, 19–20<br />
selection basis, 20<br />
tachometers<br />
permanent magnet (PM), 52–53<br />
shunt wound, 52<br />
feedback sensors<br />
angular displacement transducers (ATDs), 55–57, 56f<br />
in closed loop systems, 5f–7f, 6f<br />
encoders<br />
absolute encoders, 46f<br />
incremental encoders, 44f–45f<br />
linear encoders, 47f–48<br />
magnetic encoders, 48f–49<br />
rotary encoders, 6, 7f, 13, 19, 43–44<br />
laser interferometers, 7f, 13, 20, 57–59, 58f<br />
linear variable differential transformers (LVDTs), 20,<br />
53f–55, 54f<br />
position sensors on ballscrew slide mechanisms, 7f<br />
(feedback sensors cont.)<br />
precision multiturn potentiometers, 59f–60<br />
resolvers, 20, 30f, 49f–51<br />
tachometers, 5, 20, 51f–53, 52f<br />
flat belts, 73, 74f<br />
flexible belt torque limiters, 122f<br />
flexible face-gear reducers, 100–101f<br />
flexible shaft couplings, 14f<br />
foot size, walker, 210f<br />
frame walking, 211f–213f, 212f<br />
friction clutch torque limiters, 124f<br />
friction disk torque limiters, 124f<br />
friction drives, 83–84f<br />
Fused-Deposition Modeling (FDM), xvi, xxiii–xxv, xxiv(f)<br />
G<br />
gait types, walker, 201–202<br />
gantry manipulators, 246f<br />
geared offset wheel hubs, 134f<br />
gear efficiency, 88<br />
gear power, 88<br />
gear ratio, 88<br />
gears, 85–105<br />
bevel gears, 102, 103f<br />
cluster gears, 86f<br />
flexible face-gear reducers, 100–101f<br />
gear classifications, 88–90<br />
gear dynamics terminology, 88<br />
gear terminology, 87–88<br />
gear tooth terminology, 86f<br />
harmonic-drive speed reducers, 96–100, 97f, 98f<br />
helical planetary gears, 103f<br />
high-speed gearheads, 102–105, 103f<br />
planetary gear drives, 95–96f, 105f<br />
worm gears, 90–93, 91f, 92f<br />
gears, electronic, 11<br />
gear speed, 88<br />
General Electric, 260<br />
General Motors, 260<br />
Genghis (i<strong>Robot</strong>), 205<br />
grass, 233<br />
grippers (end-effectors)<br />
direct drive jaws, 252–253f<br />
parallel jaws, 254f–255f<br />
passive capture joint with three DOF, 256–257f<br />
passive parallel jaws, 255f–256f<br />
rack <strong>and</strong> pinion jaws, 253f<br />
reciprocating lever jaws, 253f<br />
ground pressure<br />
<strong>and</strong> mobility system comparisons, 233, 236, 237<br />
<strong>and</strong> tracked mobility systems, 163, 165
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