Robot Mechanisms And Mechanical Devices Illustrated - McGraw Hill

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Book Description
The Ultimate Mobile Robot Mechanical Design Reference Both hobbyists and professionals will treasure this unique and distinctive sourcebook -- the most thorough -- and thoroughly explained -- compendium of robot mechanisms and devices ever assembled. Written and illustrated specifically for people fascinated with mobile robots, Robot Mechanisms and Mechanical Devices Illustrated offers a one-stop source for everything needed for the mechanical design of state-of-the-art mobile 'bots. New Mechanisms, New Systems, New Devices Written by a leading robot designer -- designer of robots used at the horizon of mobile robotics -- this resource offers a collection of both new and classic robotic mechanisms and devices unmatched in scope, from such high-level sources as the mechanical engineers' mainstay, Mechanisms and Mechanical Devices Illustrated. Paul Sandin's superlative reference also brings you new robotic mechanisms and devices that have never before been collected! Inside you'll find: * The most extensive array of mechanisms and devices for mobile robots ever compiled * Innovations in high-mobility suspension systems and drivetrains * A wide range of steering systems and techniques * Insights and diagrams on manipulator and gripper mechanisms and geometries * Details on robust mechanical sensor systems * Robot motor control electronics explained with the non-EE in mind * Inspiration to take you to the next level in mobile robots -- and beyond Dream It and Build It -- With THE Resource on High-Mobility Robots

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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