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 295<br />
(limit switches, mechanical cont.)<br />
three link planar, 283f–284<br />
torsion swing arm, 284–285f<br />
button switch, 266, 267f<br />
illustrations, 270f–271f<br />
increasing area of, 269<br />
layouts<br />
about, 276–277<br />
bypass layouts, 278f–279f<br />
combination trip <strong>and</strong> hard stop, 276f, 277f<br />
reversed bump, 279, 280f<br />
lever switches, 266, 267f<br />
in machinery, 272f–275f<br />
magnetic switches, 269<br />
membrane switches, 269<br />
slide switches, 268f, 269<br />
whisker (wobble) switches, 266–269, 268f<br />
linear amplifiers, 19<br />
linear encoders, 47f–48<br />
linear guides, 3, 7f, 12f<br />
linear interpolation, 10<br />
linear optical encoders, 6, 7f, 13, 19–20<br />
linear servomotors, 17–18, 31–37, 32f, 33f, 34f<br />
linear variable differential transformers (LVDTs), 20,<br />
53f–55, 54f<br />
linear velocity transducers (LVTs), 55<br />
longitudinal rockers, 142f<br />
Los Alamos National Laboratory (LANL), xxix<br />
M<br />
M1A2 Abrams tank, 165, 166<br />
magnetic encoders, 48f–49<br />
magnetic switches, 269<br />
manipulators<br />
about, 241–242<br />
arm geometries, 245–249<br />
autonomous, 241<br />
cartesian arm geometry, 246f–247<br />
in center of gravity calculations, 132<br />
cylindrical arm geometry, 247f<br />
E-chains, 243f<br />
gantry manipulators, 246f<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 />
human arm example, 242<br />
industrial robots<br />
(manipulators cont.)<br />
about, 241, 258–259<br />
advantages, 259–261<br />
characteristics, 261–262<br />
offset joints, 245f–246<br />
pivoting joints, 245f<br />
slider crank, 243–245, 244f<br />
spherical arm geometry, 248f–249f<br />
wrist geometry, 250f–251f<br />
Massachusetts Institute of Technology, xxvi<br />
mechanical arms. See manipulators<br />
mechanical key torque limiters, 124f<br />
mechanical limit switches. See limit switches, mechanical<br />
membrane switches, 269<br />
Michaelson interferometers, 57, 58f<br />
microstepping, 18<br />
miter gears, 89<br />
mobility, term defined, xiii–xiv, 229<br />
mobility systems<br />
defined, 129<br />
dem<strong>and</strong>s on, xii<br />
pipe crawler mobility systems<br />
about, 219–220<br />
external pipe vehicles, 226<br />
horizontal crawlers, 220f–221f<br />
inchworm multi-section bladders, 225f<br />
inchworm multi-section roller walkers, 225f<br />
tracked crawlers, 224f<br />
vertical crawlers, 221–223f, 222f<br />
traction techniques, 222<br />
wheeled crawlers, 223f<br />
snake mobility systems, 226<br />
tracked mobility systems<br />
center of gravity (cg) shifting, 164<br />
components, 164<br />
crevasse negotiation, 163–164, 166<br />
drive sprockets, 174<br />
four-track drivetrains, 181–184, 182f, 183f<br />
<strong>and</strong> ground pressure, 163, 165<br />
ground support methods (suspension), 174–178<br />
fixed road wheels, 175f<br />
guide blades, 175<br />
road wheels mounted on sprung axles, 176–178f,<br />
177f<br />
rocker road wheel pairs, 176f<br />
half-track layout, 180f<br />
ideal terrain for, 163–164, 166<br />
obstacle negotiation height, 174<br />
one-track drivetrains, 178–179f<br />
pinch volume, 168–169<br />
six-track drivetrains, 184–185f
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