Robot mechanisms and mechanical devices illustrated

Paul Sandin007141200X, 9780071412001, 9780071429283

This title covers virtually everything related to mobile robots – destined to become the definitive work on robot mechanisms. It discusses the manipulators, grippers, and mechanical sensors used in mobile robotics, and includes never before compiled material on high-mobility suspension and drivetrains. Motor control section is written for those who dont have an advanced electrical understanding. It is a must read for anyone interested in the field of high-mobility vehicles.
New Mechanisms, New Systems, New Devices
Written by a leading robot designer — designer of robots used at the horizon of mobile robotics — this resource offers a collection of both new and classic robotic mechanisms and devices unmatched in scope, from such high-level sources as the mechanical engineers mainstay, Mechanisms and Mechanical Devices Illustrated. Paul Sandins superlative reference also brings you new robotic mechanisms and devices that have never before been collected! Inside you’ll find:
* The most extensive array of mechanisms and devices for mobile robots ever compiled
* Innovations in high-mobility suspension systems and drivetrains
* A wide range of steering systems and techniques
* Insights and diagrams on manipulator and gripper mechanisms and geometries
* Details on robust mechanical sensor systems
* Robot motor control electronics explained with the non-EE in mind
* Inspiration to take you to the next level in mobile robots — and beyond

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Table of contents :
Cover……Page 1
Contents……Page 6
Introduction……Page 12
Motor and Motion Control Systems……Page 38
INTRODUCTION……Page 40
Merits of Electric Systems……Page 41
Closed- Loop System……Page 42
Trapezoidal Velocity Profile……Page 44
Closed- Loop Control Techniques……Page 45
Kinds of Controlled Motion……Page 46
Computer- Aided Emulation……Page 47
Mechanical Components……Page 48
Electronic System Components……Page 52
Motor Selection……Page 53
Motor Drivers ( Amplifiers)……Page 55
Feedback Sensors……Page 56
SERVOMOTORS, STEPPER MOTORS, AND ACTUATORS FOR MOTION CONTROL……Page 57
Permanent- Magnet DC Servomotors……Page 58
Brush- Type PM DC Servomotors……Page 59
Disk- Type PM DC Motors……Page 60
Cup- or Shell- Type PM DC Motors……Page 61
Brushless PM DC Motors……Page 63
Position Sensing in Brushless Motors……Page 66
Brushless Motor Advantages……Page 67
Linear Servomotors……Page 68
Commutation……Page 71
Installation of Linear Motors……Page 72
Advantages of Linear vs. Rotary Servomotors……Page 73
Stepper Motors……Page 74
Hybrid Stepper Motors……Page 75
Stepper Motor Applications……Page 77
DC and AC Motor Linear Actuators……Page 78
Stepper- Motor Based Linear Actuators……Page 79
Rotary Encoders……Page 80
Incremental Encoders……Page 81
Absolute Encoders……Page 83
Linear Encoders……Page 84
Magnetic Encoders……Page 85
Resolvers……Page 86
Tachometers……Page 88
Linear Variable Differential Transformers ( LVDTs)……Page 90
Angular Displacement Transducers ( ATDs)……Page 92
Laser Interferometers……Page 94
Precision Multiturn Potentiometers……Page 96
Rotary Motion……Page 97
Technical Considerations……Page 99
Box- Frame Solenoids……Page 100
Rotary Solenoids……Page 101
Rotary Actuators……Page 103
Debugging……Page 104
Cost……Page 105
Indirect Power Transfer Devices……Page 106
BELTS……Page 109
V- Belts……Page 110
SMOOTHER DRIVE WITHOUT GEARS……Page 112
Timing Belts……Page 113
Plastic- and- Cable Chain……Page 114
CHAIN……Page 116
Roller Chain……Page 117
Timing or Silent Chain……Page 119
FRICTION DRIVES……Page 120
CONE DRIVE NEEDS NO GEARS OR PULLEYS……Page 121
GEARS……Page 122
Gear Terminology……Page 124
Gear Classification……Page 125
WORM GEAR WITH HYDROSTATIC ENGAGEMENT……Page 127
CONTROLLED DIFFERENTIAL DRIVES……Page 130
TWIN- MOTOR PLANETARY GEARS PROVIDE SAFETY PLUS DUAL- SPEED……Page 132
HARMONIC- DRIVE SPEED REDUCERS……Page 133
Advantages and Disadvantages……Page 136
FLEXIBLE FACE- GEARS MAKE EFFICIENT HIGH- REDUCTION DRIVES……Page 137
Simplify the Mounting……Page 139
Cost- Effective Addition……Page 141
Direct Power Transfer Devices……Page 144
COUPLINGS……Page 146
ROTATING SHAFTS……Page 147
Hooke s Joints……Page 151
Constant- Velocity Couplings……Page 152
COUPLING OF PARALLEL SHAFTS……Page 154
Cylindrical Splines……Page 155
Face Splines……Page 157
TEN TORQUE- LIMITERS……Page 158
ONE TIME USE TORQUE LIMITING……Page 162
Wheeled Vehicle Suspensions and Drivetrains……Page 164
WHY NOT SPRINGS?……Page 167
SHIFTING THE CENTER OF GRAVITY……Page 168
WHEEL SIZE……Page 171
THREE- WHEELED LAYOUTS……Page 173
FOUR- WHEELED LAYOUTS……Page 178
SELF- RIGHTING AND POSE CONTROL……Page 181
SIX- WHEELED LAYOUTS……Page 187
EIGHT- WHEELED LAYOUTS……Page 192
Tracked Vehicle Suspensions and Drivetrains……Page 198
STEERING TRACKED VEHICLES……Page 204
VARIOUS TRACK CONSTRUCTION METHODS……Page 205
TRACK SHAPES……Page 208
TRACK SUSPENSION SYSTEMS……Page 211
One- Track Drivetrain……Page 215
Two- Tracked Drivetrains……Page 216
Two- Tracked Drivetrains with Separate Steering Systems……Page 217
Four- Tracked Drivetrains……Page 218
Six- Tracked Drivetrains……Page 221
Steering History……Page 224
STEERING BASICS……Page 227
The Next Step Up……Page 230
Walkers……Page 236
LEG ACTUATORS……Page 239
LEG GEOMETRIES……Page 240
Independent Leg Walking……Page 245
Frame Walking……Page 248
FLEXIBLE LEGS……Page 251
Pipe Crawlers and Other Special Cases……Page 254
HORIZONTAL CRAWLERS……Page 257
VERTICAL CRAWLERS……Page 258
Traction Techniques for Vertical Pipe Crawlers……Page 259
Wheeled Vertical Pipe Crawlers……Page 260
OTHER PIPE CRAWLERS……Page 261
SNAKES……Page 263
Comparing Locomotion Methods……Page 264
THE MOBILITY SYSTEM……Page 266
Size……Page 267
Efficiency……Page 268
Thermal……Page 269
Topography……Page 270
Obstacles……Page 271
Speed and Cost……Page 272
THE PRACTICAL METHOD……Page 273
Manipulator Geometrics……Page 276
DEGREES OF FREEDOM?……Page 278
Slider Crank……Page 280
ARM GEOMETRIES……Page 282
CARTESIAN OR RECTANGULAR……Page 283
CYLINDRICAL……Page 284
POLAR OR SPHERICAL……Page 285
THE WRIST……Page 287
GRIPPERS……Page 289
PASSIVE PARALLEL JAW USING CROSS TIE……Page 292
DEGREES OF FREEDOM……Page 293
INDUSTRIAL ROBOTS……Page 295
Trends in Industrial Robots……Page 296
Industrial Robot Characteristics……Page 298
Proprioceptive and Environmental Sensing Mechanisms and Devices……Page 300
INDUSTRIAL LIMIT SWITCHES……Page 307
LAYOUTS……Page 313
Combination Trip ( Sense) and Hard Stop……Page 314
By- Pass Layouts……Page 315
Reversed Bump……Page 316
BUMPER GEOMETRIES AND SUSPENSIONS……Page 317
SIMPLE BUMPER SUSPENSION DEVICES……Page 319
Three Link Planar……Page 320
Torsion Swing Arm……Page 321
Horizontal Loose Footed Leaf Spring……Page 322
Sliding Front Pivot……Page 323
in All Three Planes……Page 324
CONCLUSION……Page 326
Index……Page 328
About the Author……Page 337