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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298 Index<br />
shear pin torque limiters, 125f<br />
silent (timing) chain, 82–83f<br />
single-axis air-bearing stages, 7f, 13f<br />
sinusoidal commutation, 34–35<br />
skid steering (differential), 141, 150–152, 167, 193–195,<br />
194f<br />
slider cranks, 243–245, 244, 244f<br />
slide switches, 268f, 269<br />
snake mobility systems, 226<br />
software, for motion controllers, 15<br />
Sojourner, 155<br />
solenoids<br />
about, 60–63, 61f<br />
box-frame, 63<br />
C-frame, 63<br />
open-frame, 63<br />
rotary, 64–66, 65f<br />
tubular, 64<br />
solid free-form (SFF) fabrication, xxx<br />
Solid-Ground Curing (SGC), xvi, xviii–xx, xix(f)<br />
Soligen Technologies, xxvi, xxvii<br />
speed control, 10<br />
spherical arm geometry, 248f–249f<br />
spiral bevel gears, 89<br />
spring suspension systems, 130–131<br />
spur gears, 89<br />
stability<br />
minimum requirements for static, 135, 136f, 192<br />
<strong>and</strong> walker mobility systems, 201–202, 210f<br />
stair climbing<br />
<strong>and</strong> center of gravity, 132<br />
tracked mobility systems <strong>and</strong>, 165<br />
Stanford University, xxxii<br />
static stability minimums, 135, 136f, 192<br />
steel-core linear motors, 32–33f<br />
steering<br />
Ackerman steering layout, xii, 152, 179f, 190<br />
all-terrain cycles (ATCs), 197<br />
articulated steering, 167<br />
drive/steer modules, 195f–197f<br />
history, 189f–190<br />
skid steering (differential), 141, 150–152, 167, 193–195,<br />
194f<br />
syncro-drives, 196–197f<br />
three-wheeled layouts, 137–139f, 138f, 190, 191f, 195f<br />
tracked mobility systems, 167–168<br />
two-tracked drivetrains, 192–193f<br />
two-wheeled layouts, 190, 191f<br />
in walker mobility systems, 211f<br />
step errors, 9<br />
stepper motors, 16, 18t, 37–40, 71<br />
(stepper motors cont.)<br />
hybrid stepper motors, 38–40f, 39f<br />
permanent-magnet (PM) stepper motors, 38<br />
variable reluctance (VR) stepper motors, 38<br />
stepping motors, 16, 18t<br />
stereolithography (SL), xv, xvi, xvii(f)–xviii<br />
STL (Solid Transfer Language) files, xvi<br />
straight bevel gears, 89<br />
Stratasys, xxiv<br />
synchronous drives, 75<br />
T<br />
tachometers, 5, 20<br />
permanent magnet (PM), 52–53<br />
shunt wound, 52<br />
tail dragger, 136f, 137<br />
terrain<br />
center of gravity <strong>and</strong>, 132, 164<br />
crevasses, 163–164<br />
tracked vehicles <strong>and</strong>, 163–164<br />
Three-Dimensional Printing Laboratory, xxvi<br />
3D Printing (3DP), xvi, xxv(f)–xxvi<br />
3D Systems, xviii, xxviii<br />
timing belts, 75f–76f<br />
torque control, 10<br />
torque-control loop, 7<br />
torque/force, of solenoids, 62<br />
torque limiters, 121–125f, 122f, 123f, 124f<br />
Torsen differential, 140<br />
tracked crawlers, 224f<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<br />
size range of, 165–166<br />
stair climbing, 165
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