Paul E. Sandin - Robot Mechanisms and Mechanical Devices Illustrated (779750), страница 47
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See also direct power transfer devices;indirect power tranfer devicesdrive/steer modules, 195f–197flinear servomotors, 17–18, 31–37, 32f, 33f, 34fin motion control systems, 3, 4–5, 20–21, 71permanent-magnet (PM) DC servomotors, 16–17, 18t,21–31, 22f, 23fbrushless, 26–31, 27f, 28fbrush-type, 22–23, 26fcup- or shell-type, 24–25fdisk-type, 23–24fIndex(electric motors cont.)stepper motors, 16, 18t, 37–40, 71hybrid stepper motors, 38–40f, 39fpermanent-magnet (PM) stepper motors, 38variable reluctance (VR) stepper motors, 38electronic camming, 11electronic commutation, 26–28f, 27f, 30electronic gearing, 11encodersabsolute encoders, 46fincremental encoders, 44f–45flinear encoders, 47f–48magnetic encoders, 48f–49rotary encoders, 6, 7f, 13, 19, 43–44end-effectors.
See grippers (end-effectors)environmental sensing switches, 265, 266. See also limitswitches, mechanicalEOS GmbH, xxiepoxy-core linear motors, 33–34fexternal gears, 88external pipe vehicles, 226Fface gears, 90face splines, 120fFanuc Robotics North America, 260feedback sensors. See also limit switches, mechanicalaccelerometers, 132encoders, 43–49inclinometers, 132Inductosyns, 57linear velocity transducers (LVTs), 55in motion control system, 3, 43position feedback, 19–20selection basis, 20tachometerspermanent magnet (PM), 52–53shunt wound, 52feedback sensorsangular displacement transducers (ATDs), 55–57, 56fin closed loop systems, 5f–7f, 6fencodersabsolute encoders, 46fincremental encoders, 44f–45flinear encoders, 47f–48magnetic encoders, 48f–49rotary encoders, 6, 7f, 13, 19, 43–44laser interferometers, 7f, 13, 20, 57–59, 58flinear variable differential transformers (LVDTs), 20,53f–55, 54fposition sensors on ballscrew slide mechanisms, 7f293(feedback sensors cont.)precision multiturn potentiometers, 59f–60resolvers, 20, 30f, 49f–51tachometers, 5, 20, 51f–53, 52fflat belts, 73, 74fflexible belt torque limiters, 122fflexible face-gear reducers, 100–101fflexible shaft couplings, 14ffoot size, walker, 210fframe walking, 211f–213f, 212ffriction clutch torque limiters, 124ffriction disk torque limiters, 124ffriction drives, 83–84fFused-Deposition Modeling (FDM), xvi, xxiii–xxv, xxiv(f)Ggait types, walker, 201–202gantry manipulators, 246fgeared offset wheel hubs, 134fgear efficiency, 88gear power, 88gear ratio, 88gears, 85–105bevel gears, 102, 103fcluster gears, 86fflexible face-gear reducers, 100–101fgear classifications, 88–90gear dynamics terminology, 88gear terminology, 87–88gear tooth terminology, 86fharmonic-drive speed reducers, 96–100, 97f, 98fhelical planetary gears, 103fhigh-speed gearheads, 102–105, 103fplanetary gear drives, 95–96f, 105fworm gears, 90–93, 91f, 92fgears, electronic, 11gear speed, 88General Electric, 260General Motors, 260Genghis (iRobot), 205grass, 233grippers (end-effectors)direct drive jaws, 252–253fparallel jaws, 254f–255fpassive capture joint with three DOF, 256–257fpassive parallel jaws, 255f–256frack and pinion jaws, 253freciprocating lever jaws, 253fground pressureand mobility system comparisons, 233, 236, 237and tracked mobility systems, 163, 165294Index(ground pressure cont.)and wheeled mobility systems, 130–131HHall-effect devices (HED), 26–28f, 27f, 34–35harmonic-drive speed reducers, 96–100, 97f, 98fhelical couplings, 14f–15helical gears, 89, 103fhelical planetary gears, 103fHelysys Corp., xxiiiherringbone gears, 89high-speed gearheads, 102–105, 103fHigh-torque (HTD) timing belts, 75, 76fhill climbing, 233holonomic motion, 139Hooke’s joints, 114fhorizontal crawlers, 220f–221fhorsepower-increasing differential, 93–95f, 94fhydraulics, xivhypoid gears, 89Iinchworm multi-section bladders, 225finchworm multi-section roller walkers, 225finclinometers, 132incremental encoders, 44f–45fincremental motion control, 10independent leg walking, 208–210, 209findirect power transfer devicesbeltsabout, 72–73gearsgear classifications, 88–90gear dynamics terminology, 88gear terminology, 87–88synchronous drives, 75indirect power transfer devicesbeltsflat belts, 73, 74fO-ring belts, 73, 74ftiming belts, 75f–76fV-belts, 73–74f, 76–77chainladder chain, 80frack and pinion chain drive, 82froller chain, 80–82f, 81fsilent (timing) chain, 82–83fcone drives, 84fcontrolled differential drives, 93–95f, 94ffriction drives, 83–84fgears(indirect power transfer devices cont.)bevel gears, 102, 103fcluster gears, 86fflexible face-gear reducers, 100–101fgear tooth terminology, 86fharmonic-drive speed reducers, 96–100, 97f, 98fhelical planetary gears, 103fhigh-speed gearheads, 102–105, 103fplanetary gear drives, 95–96f, 105fworm gears, 90–93, 91f, 92fplastic-and-cable chain, 77–79f, 78fInductosyns, 57Inductosystems, 20Industrial Fluid Power, 3rd ed., xivindustrial robotsabout, 241, 258–259advantages, 259–261characteristics, 261–262integral control feedback, 8internal gears, 89International Business Machines, 260Inuktun, 165JJet Propulsion Laboratory, 144–145KKarmen, Dean, 135–136Lladder chain, 80fLaminated-Object Manufacturing (LOM), xvi, xxii(f)–xxiiiLand-Master (Tri-star), 159Lankensperger, George, 190Laser Engineered Net Shaping (LENS), xxixlaser interferometers, 7f, 13, 20, 57–59, 58fLaser Sintering, xxixleadscrew drive, 11fleg actuators, walker, 202–203leg geometries, walker, 203–208, 204f, 205f, 206f, 207flever switches, 266, 267flight fringe, 58limit switches, mechanicalabout, 265–266bumper geometriesabout, 280–2823D motion detection, 287–288fhorizontal loose footed leaf spring, 285–286fsimple bumper suspension devices, 282, 283fsliding front pivot, 286–287ftension spring layout, 284fIndex(limit switches, mechanical cont.)three link planar, 283f–284torsion swing arm, 284–285fbutton switch, 266, 267fillustrations, 270f–271fincreasing area of, 269layoutsabout, 276–277bypass layouts, 278f–279fcombination trip and hard stop, 276f, 277freversed bump, 279, 280flever switches, 266, 267fin machinery, 272f–275fmagnetic switches, 269membrane switches, 269slide switches, 268f, 269whisker (wobble) switches, 266–269, 268flinear amplifiers, 19linear encoders, 47f–48linear guides, 3, 7f, 12flinear interpolation, 10linear optical encoders, 6, 7f, 13, 19–20linear servomotors, 17–18, 31–37, 32f, 33f, 34flinear variable differential transformers (LVDTs), 20,53f–55, 54flinear velocity transducers (LVTs), 55longitudinal rockers, 142fLos Alamos National Laboratory (LANL), xxixMM1A2 Abrams tank, 165, 166magnetic encoders, 48f–49magnetic switches, 269manipulatorsabout, 241–242arm geometries, 245–249autonomous, 241cartesian arm geometry, 246f–247in center of gravity calculations, 132cylindrical arm geometry, 247fE-chains, 243fgantry manipulators, 246fgrippers (end-effectors)direct drive jaws, 252–253fparallel jaws, 254f–255fpassive capture joint with three DOF, 256–257fpassive parallel jaws, 255f–256frack and pinion jaws, 253freciprocating lever jaws, 253fhuman arm example, 242industrial robots295(manipulators cont.)about, 241, 258–259advantages, 259–261characteristics, 261–262offset joints, 245f–246pivoting joints, 245fslider crank, 243–245, 244fspherical arm geometry, 248f–249fwrist geometry, 250f–251fMassachusetts Institute of Technology, xxvimechanical arms.
See manipulatorsmechanical key torque limiters, 124fmechanical limit switches. See limit switches, mechanicalmembrane switches, 269Michaelson interferometers, 57, 58fmicrostepping, 18miter gears, 89mobility, term defined, xiii–xiv, 229mobility systemsdefined, 129demands on, xiipipe crawler mobility systemsabout, 219–220external pipe vehicles, 226horizontal crawlers, 220f–221finchworm multi-section bladders, 225finchworm multi-section roller walkers, 225ftracked crawlers, 224fvertical crawlers, 221–223f, 222ftraction techniques, 222wheeled crawlers, 223fsnake mobility systems, 226tracked mobility systemscenter of gravity (cg) shifting, 164components, 164crevasse negotiation, 163–164, 166drive sprockets, 174four-track drivetrains, 181–184, 182f, 183fand ground pressure, 163, 165ground support methods (suspension), 174–178fixed road wheels, 175fguide blades, 175road wheels mounted on sprung axles, 176–178f,177frocker road wheel pairs, 176fhalf-track layout, 180fideal terrain for, 163–164, 166obstacle negotiation height, 174one-track drivetrains, 178–179fpinch volume, 168–169six-track drivetrains, 184–185f296Index(mobility systems cont.)size range of, 165–166stair climbing, 165steering, 167–168track construction methods, 166, 168–171, 169f, 170ftrack shapes, 171–174, 172f, 173ftwo-track drivetrains, 179–181f, 180ftwo-tracked drivetrainssteering, 192–193fvariations in, 164–165walker mobility systemsabout, 201–202, 215–216gait types, 201–202leg actuators, 202–203leg geometries, 203–208, 204f, 205f, 206f, 207fslider cranks and, 244walking techniquesflexible legs, 214–215ffoot size, 210fframe walking, 211f–213f, 212findependent leg walking, 208–210, 209froller walkers, 214wave walking, 208wheeled mobility systemsabout, 130center of gravity (cg) shifting, 131–134, 132f, 133f,150chassis elevation, 132, 134fthe differential, 139–140feight-wheeled layoutsball joints, 157, 158fpassive joint, 156, 157fskid-steering, 155–156fvertical and roll joints, 158fvertical center pivot, 156, 157ffive-wheeled layouts, 148, 149ffour-wheeled layouts, 141–148all-terrain cycles (ATCs), 197NASA JPL prototype, 144–145four-wheeled layoutsarticulated vertical-axis joint, 148f–149fchassis link-based pitch averaging mechanism,146, 147fchassis pitch averaging mechanism, 147fwheel-terrain contact, 141, 142f–143f, 148and ground pressure, 130–131holonomic motion, 139negotiable obstacle height, 134one-wheeled layouts, 135roller walkers, 214six-wheeled layouts, 150–155(mobility systems cont.)Alvis Stalwart, 152with DOF joints, 153rocker bogie suspension system, 153–155, 154f,166skid steering, 150f–152f, 151fspring suspension systems, 130–131static stability minimums, 135, 136fthree-wheeled layouts, 136–140, 138f, 139f, 140fsteering, 190, 191ftwo-wheeled layouts, 135f–136fsteering, 190, 191fwheel size and spacing, 134, 152mobility systems, comparingcomplexity, 235environmental considerationsand effectiveness, 232ground cover, 233obstacles, 234temperature, 232–233topography, 233–234mobility index comparison method, 236physical componentsheight-width, 230–231shape, 230size, 229–231turning width, 234weight, 231practical comparison method, 236–237speed and cost, 235–236Mold Shape Deposition Manufacturing (MSDM),xxxii–xxxiii(f)motion controllersdevelopments in, 15–16in motion control system, 3position control loops, 6ftrapezoidal velocity profiles, 7–8fmotion control systemsabout, 3–4actuators for, 41–43, 66f–68and base/host machine, 14–15closed-loop systems (servosystems), 5–9, 5f, 6f, 7f, 8f,18computer-aided emulation, 10–11electronic system components, 15–16feedback sensors (See feedback sensors)installation and operation, 20kinds of, 9–10mechanical components, 11f–12fmotor drivers, 18–19motor selection, 16–18tIndex(motion control systems cont.)multiaxis X-Y-Z motion platform, 3fopen-loop systems, 9fsolenoids, 60–66motion interpolation, 10motor driversin motion control system, 3types, 18–19velocity control loops, 5–6, 6fmotor selection, 16–18t.
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