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Robot Mechanisms and Mechanical Devices Illustratedby Paul Sandin
Synopses & Reviews
This book covers virtually everything related to mobile robots--destined to become the definitive work on robot mechanisms. It discusses the mechanisms, suspension systems, drivetrain layouts, manipulators, grippers, and mechanical sensors used in mobile robotics. (Midwest).
This work provides a complete and practical compilation of the mechanisms, suspensions systems, drivetrain layouts, manipulators, grippers, and mechanical sensors commonly used in mobile robots today.
About the Author
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.
Table of Contents
INTRODUCTION ACKNOWLEDGMENTS Chapter 1: Motor and Motion Control Systems Introduction Servosystem Feedback Sensors Solenoids and Their Applications Actuator Count Chapter 2: Indirect Power Transfer Devices Smoother Drive Without Gears Chain Friction Drives Cone Drive Needs No Gears or Pulleys Gears Harmonic-Drive Speed Reducers Flexible Face-Gears Make Efficient High-Reduction Drives High-Speed Gearheads Improve Small Servo Performance Chapter 3: Direct Power Transfer Devices Couplings Ten Different Splined Connections Torque Limiters Ten Torque-Limiters One Time Use Torque Limiting Chapter 4: Wheeled Vehicle Suspensions and Drivetrains Wheeled Mobility Systems Why Not Springs? Shifting the Center of Gravity Wheel Size Three-Wheeled Layouts Four-Wheeled Layouts All-Terrain Vehicle with Self-Righting and Pose Control Six-Wheeled Layouts Eight-Wheeled Layouts Chapter 5: Tracked Vehicle Suspensions and Drive Trains Steering Tracked Vehicles Various Track Construction Methods Track Shapes Track Suspension Systems Track System Layouts Chapter 6: Steering History Steering Basics Chapter 7: Walkers Roller-Walkers Flexible Legs Chapter 8: Pipe Crawlers and other Special Cases Horizontal Crawlers Vertical Crawlers Tracked Crawlers Other Pipe Crawlers External Pipe Vehicles Snakes Chapter 9: Comparing Locomotion Methods What Is Mobility? The Mobility System The Environment Complexity The Mobility Index Comparison Method The Practical Method Chapter 10: Manipulator Geometries Positioning, Orienting, How Many Degrees of Freedom? Arm Geometries Cartesian or Rectangular Cylindrical Polar or Spherical The Wrist Grippers Passive Parallel Jaw Using Cross Tie Passive Capture Joint with Three Degrees of Freedom Industrial Robots Chapter 11: Proprioceptive and Environmental Sensing Mechanisms and Devices Industrial Limit Switches Layouts Bumper Geometries and Suspensions Simple Bumper Suspension Devices Conclusion INDEX
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