Robot Mechanisms and Mechanical... | Buy

* Covers virtually everything related to mobile robots--destined to become THE definitive work on robot mechanisms * Discusses the manipulators, grippers, and mechanical sensors used in mobile robotics * Includes never before compiled material on high-mobility suspension and drivetrains * Motor control section is written for those who don't have an advanced electrical understanding * A must read for anyone interested in the field of high-mobility vehicles

Paul E. Sandin is a robotocist with iRobot Corporation, where he designs and builds systems for the Consumer Robotics Division. Previously he worked for RedZone Robotics, where he designed suspension components for large scale toxic waste cleanup robots. He has an intimate knowledge of robots, both large and small. He lives with his family in a suburb of Boston, Massachusetts.

Introduction

xi

Acknowledgments

xxxv

Motor and Motion Control Systems

1

(68)

Introduction

3

(40)

Merits of Electric Systems

4

(1)

Motion Control Classification

5

(1)

Closed-Loop System

5

(2)

Trapezoidal Velocity Profile

7

(1)

Closed-Loop Control Techniques

8

(1)

Open-Loop Motion Control Systems

9

(1)

Kinds of Controlled Motion

9

(1)

Motion Interpolation

10

(1)

Computer-Aided Emulation

10

(1)

Mechanical Components

11

(4)

Electronic System Components

15

(1)

Motor Selection

16

(2)

Motor Drivers (Amplifiers)

18

(1)

Feedback Sensors

19

(1)

Installation and Operation of the System

20

(1)

Servomotors, Stepper Motors, and Actuators for Motion Control

20

(1)

Permanent-Magnet DC Servomotors

21

(1)

Brush-Type PM DC Servomotors

22

(1)

Disk-Type PM DC Motors

23

(1)

Cup- or Shell-Type PM DC Motors

24

(5)

Position Sensing in Brushless Motors

29

(1)

Brushless Motor Advantages

30

(1)

Brushless DC Motor Disadvantages

31

(1)

Characteristics of Brushless Rotary Servomotors

31

(1)

Linear Servomotors

31

(3)

Commutation

34

(1)

Installation of Linear Motors

35

(1)

Advantages of Linear vs. Rotary Servomotors

36

(1)

Coil Assembly Heat Dissipation

37

(1)

Stepper Motors

37

(1)

Permanent-Magnet (PM) Stepper Motors

38

(1)

Variable Reluctance Stepper Motors

38

(1)

Hybrid Stepper Motors

38

(2)

Stepper Motor Applications

40

(1)

DC and AC Motor Linear Actuators

41

(1)

Stepper-Motor Based Linear Actuators

42

(1)

Servosystem Feedback Sensors

43

(17)

Rotary Encoders

43

(1)

Incremental Encoders

44

(2)

Absolute Encoders

46

(1)

Linear Encoders

47

(1)

Magnetic Encoders

48

(1)

Resolvers

49

(2)

Tachometers

51

(2)

Linear Variable Differential Transformers (LVDTs)

53

(2)

Linear Velocity Transducers (LVTs)

55

(1)

Angular Displacement Transducers (ATDs)

55

(2)

Inductosyns

57

(1)

Laser Interferometers

57

(2)

Precision Multiturn Potentiometers

59

(1)

Solenoids and Their Applications

60

(7)

Solenoids: An Economical Choice for Linear or Rotary Motion

60

(2)

Technical Considerations

62

(1)

Open-Frame Solenoids

63

(1)

C-Frame Solenoids

63

(1)

Box-Frame Solenoids

63

(1)

Tubular Solenoids

64

(1)

Rotary Solenoids

64

(2)

Rotary Actuators

66

(1)

Actuator Count

67

(2)

Debugging

67

(1)

Reliability

68

(1)

Cost

68

(1)

Indirect Power Transfer Devices

69

(38)

Belts

72

(4)

Flat Belts

73

(1)

O-Ring Belts

73

(1)

V-Belts

73

(2)

Timing Belts

75

(1)

Smoother Drive Without Gears

76

(3)

Plastic-and-Cable Chain

77

(2)

Chain

79

(4)

Ladder Chain

80

(1)

Roller Chain

80

(2)

Rack and Pinion Chain Drive

82

(1)

Timing or Silent Chain

82

(1)

Friction Drives

83

(1)

Cone Drive Needs No Gears Or Pulleys

84

(1)

Gears

85

(11)

Gear Terminology

87

(1)

Gear Dynamics Terminology

88

(1)

Gear Classification

88

(2)

Worm Gears

90

(1)

Worm Gear with Hydrostatic Engagement

90

(3)

Controlled Differential Drives

93

(2)

Twin-Motor Planetary Gears Provide Safety Plus Dual-Speed

95

(1)

Harmonic-Drive Speed Reducers

96

(4)

Advantages and Disadvantages

99

(1)

Flexible Face-Gears Make Efficient High-Reduction Drives

100

(2)

High-Speed Gearheads Improve Small Servo Performance

102

(5)

Simplify the Mounting

102

(2)

Cost-Effective Addition

104

(3)

Direct Power Transfer Devices

107

(20)

Couplings

109

(9)

Methods for Coupling Rotating Shafts

110

(4)

Ten Universal Shaft Couplings

114

(1)

Hooke's Joints

114

(1)

Constant-Velocity Couplings

115

(2)

Coupling of Parallel Shafts

117

(1)

Ten Different Splined Connections

118

(3)

Cylindrical Splines

118

(2)

Face Splines

120

(1)

Torque Limiters

121

(1)

Ten Torque-Limiters

121

(4)

One Time Use Torque Limiting

125

(2)

Wheeled Vehicle Suspensions and Drivetrains

127

(34)

Wheeled Mobility Systems

130

(1)

Why Not Springs?

130

(1)

Shifting the Center of Gravity

131

(3)

Wheel Size

134

(2)

Three-Wheeled Layouts

136

(5)

Four-Wheeled Layouts

141

(3)

All-Terrain Vehicle with Self-Righting and Pose Control

144

(6)

Six-Wheeled Layouts

150

(5)

Eight-Wheeled Layouts

155

(6)

Tracked Vehicle Suspensions and Drive Trains

161

(26)

Steering Tracked Vehicles

167

(1)

Various Track Construction Methods

168

(3)

Track Shapes

171

(3)

Track Suspension Systems

174

(4)

Track System Layouts

178

(9)

One-Track Drive Train

178

(1)

Two-Tracked Drive Trains

179

(1)

Two-Tracked Drive Trains with Separate Steering Systems

180

(1)

Four-Tracked Drive Trains

181

(3)

Six-Tracked Drive Trains

184

(3)

Steering History

187

(12)

Steering Basics

190

(9)

The Next Step Up

193

(6)

Walkers

199

(18)

Leg Actuators

202

(1)

Leg Geometries

203

(5)

Walking Techniques

208

(1)

Wave Walking

208

(1)

Independent Leg Walking

208

(3)

Frame Walking

211

(3)

Roller-Walkers

214

(1)

Flexible Legs

214

(3)

Pipe Crawlers and Other Special Cases

217

(10)

Horizontal Crawlers

220

(1)

Vertical Crawlers

221

(3)

Traction Techniques for Vertical Pipe Crawlers

222

(1)

Wheeled Vertical Pipe Crawlers

223

(1)

Tracked Crawlers

224

(1)

Other Pipe Crawlers

224

(2)

External Pipe Vehicles

226

(1)

Snakes

226

(1)

Comparing Locomotion Methods

227

(12)

What Is Mobility?

229

(1)

The Mobility System

229

(3)

Size

230

(1)

Efficiency

231

(1)

The Environment

232

(3)

Thermal

232

(1)

Ground Cover

233

(1)

Topography

233

(1)

Obstacles

234

(1)

Complexity

235

(1)

Speed and Cost

235

(1)

The Mobility Index Comparison Method

236

(1)

The Practical Method

236

(3)

Explain All This Using the Algebraic Method

237

(2)

Manipulator Geometries

239

(24)

Positioning, Orienting, How Many Degrees of Freedom?

241

(4)

E-Chain

243

(1)

Slider Crank

243

(2)

Arm Geometries

245

(1)

Cartesian or Rectangular

246

(1)

Cylindrical

247

(1)

Polar or Spherical

248

(2)

The Wrist

250

(2)

Grippers

252

(3)

Passive Parallel Jaw Using Cross Tie

255

(1)

Passive Capture Joint with Three Degrees of Freedom

256

(2)

Industrial Robots

258

(5)

Industrial Robot Advantages

259

(1)

Trends in Industrial Robots

259

(2)

Industrial Robot Characteristics

261

(2)

Proprioceptive and Environmental Sensing Mechanisms and Devices

263

(28)

Industrial Limit Switches

270

(6)

Layouts

276

(4)

Combination Trip (Sense) and Hard Stop

277

(1)

By-Pass Layouts

278

(1)

Reversed Bump

279

(1)

Bumper Geometries and Suspensions

280

(2)

Simple Bumper Suspension Devices

282

(7)

Three Link Planar

283

(1)

Tension Spring Star

284

(1)

Torsion Swing Arm

284

(1)

Horizontal Loose Footed Leaf Spring

285

(1)

Sliding Front Pivot

286

(1)

Suspension Devices to Detect Motions in All Three Planes

287

(2)

Conclusion

289

(2)

Index

291

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