McGraw-Hill - Robot Mechanisms and Mechanical Devices Illustrated - 2003 Part 13 potx
McGraw-Hill - Robot Mechanisms and Mechanical Devices Illustrated - 2003 Part 13 potx
... makes it
278 Chapter 11 Proprioceptive and Environmental Sensing Mechanisms and Devices
By-Pass Layouts
The by-pass layout shown in Figures 1 1-9 and 1 1-1 0 relieves the switch
of taking any force, ... Switches
Figure 1 1-5 a Mechanical, Geared, and Cam Limit Switches
Chapter 11 Proprioceptive and Environmental Sensing Mechanisms and Devices 267
Figure 1 1-1 But...
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 ... especially in teleoperated vehicles.
Figure 2-1 Flat, O-ring, and
V-belt profiles and pulleys
Figure 2-2 Variable Belt
88 Chapter 2 Indirect Power Transfer Devices
p...
McGraw-Hill - Robot Mechanisms and Mechanical Devices Illustrated - 2003 Part 6 ppsx
... is both com-
pact and simple.
112 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
102 Chapter 2 Indirect Power Transfer Devices
HIGH-SPEED GEARHEADS ... Transfer Devices 113
Shaft couplings that include internal and external gears, balls, pins, and
nonmetallic parts to transmit torque are shown here.
Figure 3-1 4...
McGraw-Hill - Robot Mechanisms and Mechanical Devices Illustrated - 2003 Part 7 pot
... from one-wheeled vehicles to eight-
wheeled vehicles. It is divided into four sections: vehicles with one to
three wheels and four-wheeled diamond layouts, four- and five-wheeled
layouts, six-wheeled ... Power Transfer Devices 119
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...
McGraw-Hill - Robot Mechanisms and Mechanical Devices Illustrated - 2003 Part 9 ppt
... 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- brake ... 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...
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 ... designing a walk-
ing robot.
Figure 7-1 4 Six-legged
tripod-frame walker with
single-DOF legs
Chapter 7 Walkers 209
Figure 7-8 Independent leg
walker, four legs, twelve DOF...
McGraw-Hill - Robot Mechanisms and Mechanical Devices Illustrated - 2003 Part 11 ppsx
... 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
sand or mud would ... vehicles’ suspension 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 an...
McGraw-Hill - Robot Mechanisms and Mechanical Devices Illustrated - 2003 Part 12 doc
... floor-standing industrial industrial robots today. Hydraulic-drive
industrial robots are generally assigned to heavy-duty lifting applica-
tions. Some electric and hydraulic industrial robots ... light-duty assembly or pick-
and- place industrial robots that can be located on a bench. Some of these
are programmed with electromechanical relays, and others are pro-
grammed by setting mech...
McGraw-Hill - Robot Mechanisms and Mechanical Devices Illustrated - 2003 Part 14 ppsx
... systems, 130 131
static stability minimums, 135 , 136 f
three-wheeled layouts, 136 –140, 138 f, 139 f, 140f
steering, 190, 191f
two-wheeled layouts, 135 f 136 f
steering, 190, 191f
wheel size and spacing, 134 , ... systems, 130 131
static stability minimums, 135 , 136 f
three-wheeled layouts, 136 –140, 138 f, 139 f, 140f
steering, 190, 191f
two-wheeled layouts, 135 f 136 f...
mcgraw hill robot mechanisms and mechanical devices illustrated 2003 docx
... heat trans-
ferred tended to warp the substrate or delaminate it.
The SDM laboratory has produced custom-made functional mechani-
cal parts and has embedded prefabricated mechanical parts, electronic
components, ... to achieve smooth,
high-speed motion without overstressing the ser-
Figure 1-6 Ballscrew-driven
single-axis slide mechanism with-
out position feedback sensors.
Figure 1-7...
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