McGraw-Hill - Robot Mechanisms and Mechanical Devices Illustrated Part 1 pot
McGraw-Hill - Robot Mechanisms and Mechanical Devices Illustrated Part 1 pot
... Joints 11 4
Constant-Velocity Couplings 11 5
Coupling of Parallel Shafts 11 7
Ten Different Splined Connections 11 8
Cylindrical Splines 11 8
Face Splines 12 0
Torque Limiters 12 1
Ten Torque-Limiters 12 1
One ... Suspensions and Drivetrains 12 7
Wheeled Mobility Systems 13 0
Why Not Springs? 13 0
Shifting the Center of Gravity 13 1
Wheel Size 13 4
Three-Wheeled Layouts 13 6
F...
McGraw-Hill - Robot Mechanisms and Mechanical Devices Illustrated Part 2 docx
... linear
motion. Mechanical methods for accomplishing this include the use of
leadscrews, shown in Figure 1- 1 0, ballscrews, shown in Figure 1- 1 1,
worm-drive gearing, shown in Figure 1- 1 2, and belt, ... reduce friction and gain higher efficiency than con-
ventional leadscrews.
Figure 1- 1 2 Worm-drive systems can provide high speed
and high torque.
Figure 1- 1 3 Ballscrew-dr...
McGraw-Hill - Robot Mechanisms and Mechanical Devices Illustrated Part 3 pptx
... bellows and helixes, as shown in Figure 1- 1 6. The bellows con-
figuration (a) is acceptable for light-duty applications where misalign-
Figure 1- 1 5 Flexible shaft cou-
plings adjust for and accommo-
date ... VR
motor step angles are 15 and 30º per step. The 30º angle is obtained with
a 4-tooth rotor and a 6-pole stator, and the 15 º angle is achieved with an
8-tooth rotor a...
McGraw-Hill - Robot Mechanisms and Mechanical Devices Illustrated Part 4 doc
... or forward. The bidirec-
tional digital linear actuator shown in Figure 1- 3 3 can provide linear res-
Figure 1- 3 3 This light-duty lin-
ear actuator based on a perma-
nent-magnet stepping motor ... containing finer graduations capable of 1 1- to more
than 16 -bit resolution are used in high-resolution encoders, and plastic
(Mylar) disks capable of 8- to 10 -bit resolution are u...
McGraw-Hill - Robot Mechanisms and Mechanical Devices Illustrated - 2003 Part 5 doc
... belts, plastic -and- cable chain, and all types of steel
chain connect the input to the output mechanically by means of teeth just
71
76 Chapter 2 Indirect Power Transfer Devices
Table 2 -1 Timing Belts
Timing ... are
Figure 1- 5 2 Exploded view of a
rotary solenoid showing its princi-
pal components.
Figure 1- 5 3 Cutaway views of a
rotary solenoid de-energized (a)
and energized (...
McGraw-Hill - Robot Mechanisms and Mechanical Devices Illustrated - 2003 Part 6 ppsx
... is both com-
pact and simple.
11 2 Chapter 3 Direct Power Transfer Devices
Figure 3-9
Figure 3 -1 0
Figure 3 -1 1
Figure 3 -1 2 Figure 3 -1 3
10 2 Chapter 2 Indirect Power Transfer Devices
HIGH-SPEED GEARHEADS ... Transfer Devices 11 3
Shaft couplings that include internal and external gears, balls, pins, and
nonmetallic parts to transmit torque are shown here.
Figure...
McGraw-Hill - Robot Mechanisms and Mechanical Devices Illustrated - 2003 Part 7 pot
... Power Transfer Devices 11 9
Figure 3-3 7 Machine-Tool splines have
wide gaps between splines to permit accu-
rate cylindrical grinding of the lands—for pre-
cise positioning. Internal parts can be ... minimum out-
put is 10 0 × 0.9397, which equals 93.9 rpm; the maximum output is
1. 0642 × 10 0, or 10 6.4 rpm. Thus, the difference is 12 .43 rpm. When out-
put speed is high, output t...
McGraw-Hill - Robot Mechanisms and Mechanical Devices Illustrated - 2003 Part 9 ppt
... These trucks (Figure 5 -1 4) were called
half-tracks. For a mobile robot, this is a less satisfactory layout since it
Figure 5 -1 3 Basic two-track
layout
Figure 5 -1 4 The half-track
... drive -and- brake steering sys-
tem. Controlling the speed of each track directly adds a second major
drive source, but gives fine steering and speed control. A second
improvement to drive -and- brak...
McGraw-Hill - Robot Mechanisms and Mechanical Devices Illustrated - 2003 Part 10 ppt
... there. Figures 7-8 and 7-9 show four- and six-legged
walkers with three rotary-actuated joints in each leg. An eight-leg layout
would have no less than 24 actuators. The four- and six-legged versions ... Traversing/rotating
frame eight-leg frame walker with
single-DOF legs
Figure 7 -1 3 Eight-leg frame
walker with two-DOF legs
Chapter 6 Steering History 19 1
Figure 6-2 Bicycle s...
McGraw-Hill - Robot Mechanisms and Mechanical Devices Illustrated - 2003 Part 11 ppsx
... and locomotion systems are
frequently quite simple. Figures 8 -1 and 8-2 show two examples.
Figure 8 -1 Four-wheeled
horizontal pipe crawler
Chapter 8 Pipe Crawlers and Other Special Cases 2 21
VERTICAL ... in the case of sand,
because it can’t be scaled. Sand is just sand no matter what size the vehi-
cle is (except for tiny robots of course), and mud is still mud. Driving on
s...