Robot Mechanisms and Mechanical Devices Illustrated - Profe Saul

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296 Index (mobility systems cont.) size range of, 165–166 stair climbing, 165 steering, 167–168 track construction methods, 166, 168–171, 169f, 170f track shapes, 171–174, 172f, 173f two-track drivetrains, 179–181f, 180f two-tracked drivetrains steering, 192–193f variations in, 164–165 walker mobility systems about, 201–202, 215–216 gait types, 201–202 leg actuators, 202–203 leg geometries, 203–208, 204f, 205f, 206f, 207f slider cranks and, 244 walking techniques flexible legs, 214–215f foot size, 210f frame walking, 211f–213f, 212f independent leg walking, 208–210, 209f roller walkers, 214 wave walking, 208 wheeled mobility systems about, 130 center of gravity (cg) shifting, 131–134, 132f, 133f, 150 chassis elevation, 132, 134f the differential, 139–140f eight-wheeled layouts ball joints, 157, 158f passive joint, 156, 157f skid-steering, 155–156f vertical and roll joints, 158f vertical center pivot, 156, 157f five-wheeled layouts, 148, 149f four-wheeled layouts, 141–148 all-terrain cycles (ATCs), 197 NASA JPL prototype, 144–145 four-wheeled layouts articulated vertical-axis joint, 148f–149f chassis link-based pitch averaging mechanism, 146, 147f chassis pitch averaging mechanism, 147f wheel-terrain contact, 141, 142f–143f, 148 and ground pressure, 130–131 holonomic motion, 139 negotiable obstacle height, 134 one-wheeled layouts, 135 roller walkers, 214 six-wheeled layouts, 150–155 (mobility systems cont.) Alvis Stalwart, 152 with DOF joints, 153 rocker bogie suspension system, 153–155, 154f, 166 skid steering, 150f–152f, 151f spring suspension systems, 130–131 static stability minimums, 135, 136f three-wheeled layouts, 136–140, 138f, 139f, 140f steering, 190, 191f two-wheeled layouts, 135f–136f steering, 190, 191f wheel size and spacing, 134, 152 mobility systems, comparing complexity, 235 environmental considerations and effectiveness, 232 ground cover, 233 obstacles, 234 temperature, 232–233 topography, 233–234 mobility index comparison method, 236 physical components height-width, 230–231 shape, 230 size, 229–231 turning width, 234 weight, 231 practical comparison method, 236–237 speed and cost, 235–236 Mold Shape Deposition Manufacturing (MSDM), xxxii–xxxiii(f) motion controllers developments in, 15–16 in motion control system, 3 position control loops, 6f trapezoidal velocity profiles, 7–8f motion control systems about, 3–4 actuators for, 41–43, 66f–68 and base/host machine, 14–15 closed-loop systems (servosystems), 5–9, 5f, 6f, 7f, 8f, 18 computer-aided emulation, 10–11 electronic system components, 15–16 feedback sensors (See feedback sensors) installation and operation, 20 kinds of, 9–10 mechanical components, 11f–12f motor drivers, 18–19 motor selection, 16–18t
Index 297 (motion control systems cont.) multiaxis X-Y-Z motion platform, 3f open-loop systems, 9f solenoids, 60–66 motion interpolation, 10 motor drivers in motion control system, 3 types, 18–19 velocity control loops, 5–6, 6f motor selection, 16–18t. See also electric motors mud, 233 N Nasif, Annette K., 145 null position, in LVDTs, 54 O obstacle height, 134 offset joints, 245f–246 open-loop motion control systems, 9f Optomec Design Company, xxx O-ring belts, 73, 74f P parallel shafts, coupling, 115f permanent-magnet (PM) DC servomotors about, 16–17, 18t brushless, 26–31, 27f, 28f brush-type, 22–23, 26f cup- or shell-type, 24–25f disk-type, 23–24f permanent magnet torque limiters, 121f pinch volume, 168–169 pinions, 89, 103f–104 pipe crawler mobility systems about, 219–220 external pipe vehicles, 226 horizontal crawlers, 220f–221f inchworm multi-section bladders, 225f inchworm multi-section roller walkers, 225f tracked crawlers, 224f vertical crawlers, 221–223f, 222f traction techniques, 222 wheeled crawlers, 223f pitch, 87 pitch circle, 87 pitch diameter, 88 pivoting joints, 245f planetary gear drives, 95–96f, 105f plastic-and-cable chain, 77–79f, 78f point-to-point motion control, 9–10 position control loops, 6f positioning accuracy, 9 potentiometers, 20 potentiometers, precision multiturn, 59f–60 power transfer devices. See direct power transfer devices; indirect power transfer devices pressure angle, 88 programmable logic controller, 3 proportional control feedback, 8 proportional-integral-derivative (PID) control feedback, 9 proprioceptive sensors, 265, 266. See also limit switches, mechanical pulse-width modulated (PWM) amplifiers, 19 R rack and pinion chain drive, 82f rack gears, 89 Rapid Prototyping Laboratory, xxxii Rapid Prototyping (RP) technology about, xiv–xvi computer-aided design (CAD), xiv, xvi prototyping choices, xvi–xxx research and development, xxx–xxxiii rapid tooling (RT), xvi rear transverse rockers, 143f reliability, and actuator count, 68 resolvers, 20, 30f, 49f–51 reversed tricycle, 137–139f, 138f revolver, 6f right-angle gearheads, 102, 103f right-handed coordinate system, 4f robot, term defined, xiii rocker bogie suspension system, 153–155, 154f, 166 rockers, in suspension systems, 142f–143f roller chain, 80–82f, 81f roller walkers, 214 rotary encoders, 6, 7f, 13, 19, 43–44 rotor position sensing, 29f–30f S sand, 233 Sanders Prototype Inc., xxviii Schroff Development Corporation, xxiii SDM Laboratory, xxx, xxxi Segway, 135–136 Selective Laser Sintering (SLS), xvi, xx–xxi(f) sensors, feedback. See feedback sensors sequencing control, 10 servosystems. See closed-loop motion control systems (servosystems) Shape Deposition Manufacturing (SDM), xxx–xxxii, xxxi(f)
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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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192 Chapter 6 Steering History and
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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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242 Chapter 10 Manipulator Geometri
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244 Chapter 10 Manipulator Geometri
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Page 330 and 331: 292 Index CAM-LEM, Inc., xxiii camm
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Page 338: About the Author Paul E. Sandin is
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