Paul E. Sandin - Robot Mechanisms and Mechanical Devices Illustrated (779750), страница 48
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See also electric motorsmud, 233NNasif, Annette K., 145null position, in LVDTs, 54Oobstacle height, 134offset joints, 245f–246open-loop motion control systems, 9fOptomec Design Company, xxxO-ring belts, 73, 74fPparallel shafts, coupling, 115fpermanent-magnet (PM) DC servomotorsabout, 16–17, 18tbrushless, 26–31, 27f, 28fbrush-type, 22–23, 26fcup- or shell-type, 24–25fdisk-type, 23–24fpermanent magnet torque limiters, 121fpinch volume, 168–169pinions, 89, 103f–104pipe 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, 223fpitch, 87pitch circle, 87pitch diameter, 88pivoting joints, 245fplanetary gear drives, 95–96f, 105fplastic-and-cable chain, 77–79f, 78fpoint-to-point motion control, 9–10297position control loops, 6fpositioning accuracy, 9potentiometers, 20potentiometers, precision multiturn, 59f–60power transfer devices.
See direct power transfer devices;indirect power transfer devicespressure angle, 88programmable logic controller, 3proportional control feedback, 8proportional-integral-derivative (PID) control feedback, 9proprioceptive sensors, 265, 266.
See also limit switches,mechanicalpulse-width modulated (PWM) amplifiers, 19Rrack and pinion chain drive, 82frack gears, 89Rapid Prototyping Laboratory, xxxiiRapid Prototyping (RP) technologyabout, xiv–xvicomputer-aided design (CAD), xiv, xviprototyping choices, xvi–xxxresearch and development, xxx–xxxiiirapid tooling (RT), xvirear transverse rockers, 143freliability, and actuator count, 68resolvers, 20, 30f, 49f–51reversed tricycle, 137–139f, 138frevolver, 6fright-angle gearheads, 102, 103fright-handed coordinate system, 4frobot, term defined, xiiirocker bogie suspension system, 153–155, 154f, 166rockers, in suspension systems, 142f–143froller chain, 80–82f, 81froller walkers, 214rotary encoders, 6, 7f, 13, 19, 43–44rotor position sensing, 29f–30fSsand, 233Sanders Prototype Inc., xxviiiSchroff Development Corporation, xxiiiSDM Laboratory, xxx, xxxiSegway, 135–136Selective Laser Sintering (SLS), xvi, xx–xxi(f)sensors, feedback.
See feedback sensorssequencing control, 10servosystems. See closed-loop motion control systems (servosystems)Shape Deposition Manufacturing (SDM), xxx–xxxii, xxxi(f)298Indexshear pin torque limiters, 125fsilent (timing) chain, 82–83fsingle-axis air-bearing stages, 7f, 13fsinusoidal commutation, 34–35skid steering (differential), 141, 150–152, 167, 193–195,194fslider cranks, 243–245, 244, 244fslide switches, 268f, 269snake mobility systems, 226software, for motion controllers, 15Sojourner, 155solenoidsabout, 60–63, 61fbox-frame, 63C-frame, 63open-frame, 63rotary, 64–66, 65ftubular, 64solid free-form (SFF) fabrication, xxxSolid-Ground Curing (SGC), xvi, xviii–xx, xix(f)Soligen Technologies, xxvi, xxviispeed control, 10spherical arm geometry, 248f–249fspiral bevel gears, 89spring suspension systems, 130–131spur gears, 89stabilityminimum requirements for static, 135, 136f, 192and walker mobility systems, 201–202, 210fstair climbingand center of gravity, 132tracked mobility systems and, 165Stanford University, xxxiistatic stability minimums, 135, 136f, 192steel-core linear motors, 32–33fsteeringAckerman steering layout, xii, 152, 179f, 190all-terrain cycles (ATCs), 197articulated steering, 167drive/steer modules, 195f–197fhistory, 189f–190skid steering (differential), 141, 150–152, 167, 193–195,194fsyncro-drives, 196–197fthree-wheeled layouts, 137–139f, 138f, 190, 191f, 195ftracked mobility systems, 167–168two-tracked drivetrains, 192–193ftwo-wheeled layouts, 190, 191fin walker mobility systems, 211fstep errors, 9stepper motors, 16, 18t, 37–40, 71(stepper motors cont.)hybrid stepper motors, 38–40f, 39fpermanent-magnet (PM) stepper motors, 38variable reluctance (VR) stepper motors, 38stepping motors, 16, 18tstereolithography (SL), xv, xvi, xvii(f)–xviiiSTL (Solid Transfer Language) files, xvistraight bevel gears, 89Stratasys, xxivsynchronous drives, 75Ttachometers, 5, 20permanent magnet (PM), 52–53shunt wound, 52tail dragger, 136f, 137terraincenter of gravity and, 132, 164crevasses, 163–164tracked vehicles and, 163–164Three-Dimensional Printing Laboratory, xxvi3D Printing (3DP), xvi, xxv(f)–xxvi3D Systems, xviii, xxviiitiming belts, 75f–76ftorque control, 10torque-control loop, 7torque/force, of solenoids, 62torque limiters, 121–125f, 122f, 123f, 124fTorsen differential, 140tracked crawlers, 224ftracked 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, 184–185fsize range of, 165–166stair climbing, 165Index(tracked mobility systems cont.)steering, 167–168track construction methods, 166, 168–171, 169f, 170ftrack shapes, 171–174, 172f, 173ftwo-track drivetrains, 179–181f, 180ftwo-tracked drivetrainssteering, 192–193fvariations in, 164–165transmissions.
See indirect power tranfer devicestrapezoidal commutation. See Hall-effect devices (HED)trapezoidal velocity profiles, 7–8fUundercutting, 88University of Texas at Austin, xxiUrbie (iRobot), 182fVV-belts, 73–74f, 76–77velocity control loops, 5–6, 6fvelocity profiles, trapezoidal, 7–8fvertical crawlers, 221–223f, 222fWwalker 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, 208wave walking, 208web sitesbelts, 72–73couplers, 109roller walkers, 214Torsen differential, 140Westinghouse, 260wheeled crawlers, 223fwheeled mobility systemsabout, 130299(wheeled mobility systems cont.)center 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, 148geared offset wheel hubs, 134fand ground pressure, 130–131holonomic motion, 139negotiable obstacle height, 134one-wheeled layouts, 135roller walkers, 214six-wheeled layouts, 150–155Alvis 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, 152wheel-terrain contact, 141, 142f–143f, 148whisker (wobble) switches, 266–269, 268fWilcox, Brian H., 145worm-drive systems, 12fworm gears, 89, 90–93, 91f, 92fwrist, human, 242wrist geometry, 250f–251fZZ Corporation, xxviAbout the AuthorPaul E.
Sandin is a robotocist with iRobot Corporation, where he designsand builds systems for the Consumer Robotics Division. Previously, heworked for RedZone Robotics, where he designed suspension components for large-scale toxic waste cleanup robots. He has an intimateknowledge of robots, both large and small. He lives with his family in asuburb of Boston, Massachusetts..
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