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...
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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...
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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...
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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...
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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 (...
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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...
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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...
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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...
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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...
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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...
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