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Robot Mechanisms and Mechanical Devices Illustrated

by: Sandin, Paul E.

Robot Mechanisms and Mechanical Devices Illustrated

by: Sandin, Paul E.

ISBN 13:
9780071412001
ISBN 10:
007141200X
Format: Paperback
Copyright: 06/24/2003
Publisher: McGraw-Hill/TAB Electronics

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Summary

* 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

Introduction

Acknowledgments

xxxv

Motor and Motion Control Systems

(68)

Introduction

(40)

Merits of Electric Systems

(1)

Motion Control Classification

(1)

Closed-Loop System

(2)

Trapezoidal Velocity Profile

(1)

Closed-Loop Control Techniques

(1)

Open-Loop Motion Control Systems

(1)

Kinds of Controlled Motion

(1)

Motion Interpolation

(1)

Computer-Aided Emulation

(1)

Mechanical Components

(4)

Electronic System Components

(1)

Motor Selection

(2)

Motor Drivers (Amplifiers)

(1)

Feedback Sensors

(1)

Installation and Operation of the System

(1)

Servomotors, Stepper Motors, and Actuators for Motion Control

(1)

Permanent-Magnet DC Servomotors

(1)

Brush-Type PM DC Servomotors

(1)

Disk-Type PM DC Motors

(1)

Cup- or Shell-Type PM DC Motors

(5)

Position Sensing in Brushless Motors

(1)

Brushless Motor Advantages

(1)

Brushless DC Motor Disadvantages

(1)

Characteristics of Brushless Rotary Servomotors

(1)

Linear Servomotors

(3)

Commutation

(1)

Installation of Linear Motors

(1)

Advantages of Linear vs. Rotary Servomotors

(1)

Coil Assembly Heat Dissipation

(1)

Stepper Motors

(1)

Permanent-Magnet (PM) Stepper Motors

(1)

Variable Reluctance Stepper Motors

(1)

Hybrid Stepper Motors

(2)

Stepper Motor Applications

(1)

DC and AC Motor Linear Actuators

(1)

Stepper-Motor Based Linear Actuators

(1)

Servosystem Feedback Sensors

(17)

Rotary Encoders

(1)

Incremental Encoders

(2)

Absolute Encoders

(1)

Linear Encoders

(1)

Magnetic Encoders

(1)

Resolvers

(2)

Tachometers

(2)

Linear Variable Differential Transformers (LVDTs)

(2)

Linear Velocity Transducers (LVTs)

(1)

Angular Displacement Transducers (ATDs)

(2)

Inductosyns

(1)

Laser Interferometers

(2)

Precision Multiturn Potentiometers

(1)

Solenoids and Their Applications

(7)

Solenoids: An Economical Choice for Linear or Rotary Motion

(2)

Technical Considerations

(1)

Open-Frame Solenoids

(1)

C-Frame Solenoids

(1)

Box-Frame Solenoids

(1)

Tubular Solenoids

(1)

Rotary Solenoids

(2)

Rotary Actuators

(1)

Actuator Count

(2)

Debugging

(1)

Reliability

(1)

Cost

(1)

Indirect Power Transfer Devices

(38)

Belts

(4)

Flat Belts

(1)

O-Ring Belts

(1)

V-Belts

(2)

Timing Belts

(1)

Smoother Drive Without Gears

(3)

Plastic-and-Cable Chain

(2)

Chain

(4)

Ladder Chain

(1)

Roller Chain

(2)

Rack and Pinion Chain Drive

(1)

Timing or Silent Chain

(1)

Friction Drives

(1)

Cone Drive Needs No Gears Or Pulleys

(1)

Gears

(11)

Gear Terminology

(1)

Gear Dynamics Terminology

(1)

Gear Classification

(2)

Worm Gears

(1)

Worm Gear with Hydrostatic Engagement

(3)

Controlled Differential Drives

(2)

Twin-Motor Planetary Gears Provide Safety Plus Dual-Speed

(1)

Harmonic-Drive Speed Reducers

(4)

Advantages and Disadvantages

(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

Amazon no longer offers textbook rentals. We do!

Robot Mechanisms and Mechanical Devices Illustrated

Robot Mechanisms and Mechanical Devices Illustrated

9780071412001

007141200X

Summary

Author Biography

Table of Contents

Supplemental Materials

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