Robot Mechanisms and Mechanical Devices Illustrated - Profe Saul

Index 299
(tracked mobility systems cont.)
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
transmissions. See indirect power tranfer devices
trapezoidal commutation. See Hall-effect devices (HED)
trapezoidal velocity profiles, 7–8f
U
undercutting, 88
University of Texas at Austin, xxi
Urbie (iRobot), 182f
V
V-belts, 73–74f, 76–77
velocity control loops, 5–6, 6f
velocity profiles, trapezoidal, 7–8f
vertical crawlers, 221–223f, 222f
W
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
wave walking, 208
web sites
belts, 72–73
couplers, 109
roller walkers, 214
Torsen differential, 140
Westinghouse, 260
wheeled crawlers, 223f
wheeled mobility systems
about, 130
(wheeled mobility systems cont.)
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
geared offset wheel hubs, 134f
and ground pressure, 130–131
holonomic motion, 139
negotiable obstacle height, 134
one-wheeled layouts, 135
roller walkers, 214
six-wheeled layouts, 150–155
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
wheel-terrain contact, 141, 142f–143f, 148
whisker (wobble) switches, 266–269, 268f
Wilcox, Brian H., 145
worm-drive systems, 12f
worm gears, 89, 90–93, 91f, 92f
wrist, human, 242
wrist geometry, 250f–251f
Z
Z Corporation, xxvi