Robot Mechanisms and Mechanical Devices Illustrated Book

	Introduction	xi
	Acknowledgments	xxxv
Chapter 1	Motor and Motion Control Systems	1
	Introduction	3
	Merits of Electric Systems	4
	Motion Control Classification	5
	Closed-Loop System	5
	Trapezoidal Velocity Profile	7
	Closed-Loop Control Techniques	8
	Open-Loop Motion Control Systems	9
	Kinds of Controlled Motion	9
	Motion Interpolation	10
	Computer-Aided Emulation	10
	Mechanical Components	11
	Electronic System Components	15
	Motor Selection	16
	Motor Drivers (Amplifiers)	18
	Feedback Sensors	19
	Installation and Operation of the System	20
	Servomotors, Stepper Motors, and Actuators for Motion Control	20
	Permanent-Magnet DC Servomotors	21
	Brush-Type PM DC Servomotors	22
	Disk-Type PM DC Motors	23
	Cup- or Shell-Type PM DC Motors	24
	Position Sensing in Brushless Motors	29
	Brushless Motor Advantages	30
	Brushless DC Motor Disadvantages	31
	Characteristics of Brushless Rotary Servomotors	31
	Linear Servomotors	31
	Commutation	34
	Installation of Linear Motors	35
	Advantages of Linear vs. Rotary Servomotors	36
	Coil Assembly Heat Dissipation	37
	Stepper Motors	37
	Permanent-Magnet (PM) Stepper Motors	38
	Variable Reluctance Stepper Motors	38
	Hybrid Stepper Motors	38
	Stepper Motor Applications	40
	DC and AC Motor Linear Actuators	41
	Stepper-Motor Based Linear Actuators	42
	Servosystem Feedback Sensors	43
	Rotary Encoders	43
	Incremental Encoders	44
	Absolute Encoders	46
	Linear Encoders	47
	Magnetic Encoders	48
	Resolvers	49
	Tachometers	51
	Linear Variable Differential Transformers (LVDTs)	53
	Linear Velocity Transducers (LVTs)	55
	Angular Displacement Transducers (ATDs)	55
	Inductosyns	57
	Laser Interferometers	57
	Precision Multiturn Potentiometers	59
	Solenoids and Their Applications	60
	Solenoids: An Economical Choice for Linear or Rotary Motion	60
	Technical Considerations	62
	Open-Frame Solenoids	63
	C-Frame Solenoids	63
	Box-Frame Solenoids	63
	Tubular Solenoids	64
	Rotary Solenoids	64
	Rotary Actuators	66
	Actuator Count	67
	Debugging	67
	Reliability	68
	Cost	68
Chapter 2	Indirect Power Transfer Devices	69
	Belts	72
	Flat Belts	73
	O-Ring Belts	73
	V-Belts	73
	Timing Belts	75
	Smoother Drive Without Gears	76
	Plastic-and-Cable Chain	77
	Chain	79
	Ladder Chain	80
	Roller Chain	80
	Rack and Pinion Chain Drive	82
	Timing or Silent Chain	82
	Friction Drives	83
	Cone Drive Needs No Gears Or Pulleys	84
	Gears	85
	Gear Terminology	87
	Gear Dynamics Terminology	88
	Gear Classification	88
	Worm Gears	90
	Worm Gear with Hydrostatic Engagement	90
	Controlled Differential Drives	93
	Twin-Motor Planetary Gears Provide Safety Plus Dual-Speed	95
	Harmonic-Drive Speed Reducers	96
	Advantages and Disadvantages	99
	Flexible Face-Gears Make Efficient High-Reduction Drives	100
	High-Speed Gearheads Improve Small Servo Performance	102
	Simplify the Mounting	102
	Cost-Effective Addition	104
Chapter 3	Direct Power Transfer Devices	107
	Couplings	109
	Methods for Coupling Rotating Shafts	110
	Ten Universal Shaft Couplings	114
	Hooke's Joints	114
	Constant-Velocity Couplings	115
	Coupling of Parallel Shafts	117
	Ten Different Splined Connections	118
	Cylindrical Splines	118
	Face Splines	120
	Torque Limiters	121
	Ten Torque-Limiters	121
	One Time Use Torque Limiting	125
Chapter 4	Wheeled Vehicle Suspensions and Drivetrains	127
	Wheeled Mobility Systems	130
	Why Not Springs?	130
	Shifting the Center of Gravity	131
	Wheel Size	134
	Three-Wheeled Layouts	136
	Four-Wheeled Layouts	141
	All-Terrain Vehicle with Self-Righting and Pose Control	144
	Six-Wheeled Layouts	150
	Eight-Wheeled Layouts	155
Chapter 5	Tracked Vehicle Suspensions and Drive Trains	161
	Steering Tracked Vehicles	167
	Various Track Construction Methods	168
	Track Shapes	171
	Track Suspension Systems	174
	Track System Layouts	178
	One-Track Drive Train	178
	Two-Tracked Drive Trains	179
	Two-Tracked Drive Trains with Separate Steering Systems	180
	Four-Tracked Drive Trains	181
	Six-Tracked Drive Trains	184
Chapter 6	Steering History	187
	Steering Basics	190
	The Next Step Up	193
Chapter 7	Walkers	199
	Leg Actuators	202
	Leg Geometries	203
	Walking Techniques	208
	Wave Walking	208
	Independent Leg Walking	208
	Frame Walking	211
	Roller-Walkers	214
	Flexible Legs	214
Chapter 8	Pipe Crawlers and Other Special Cases	217
	Horizontal Crawlers	220
	Vertical Crawlers	221
	Traction Techniques for Vertical Pipe Crawlers	222
	Wheeled Vertical Pipe Crawlers	223
	Tracked Crawlers	224
	Other Pipe Crawlers	224
	External Pipe Vehicles	226
	Snakes	226
Chapter 9	Comparing Locomotion Methods	227
	What Is Mobility?	229
	The Mobility System	229
	Size	230
	Efficiency	231
	The Environment	232
	Thermal	232
	Ground Cover	233
	Topography	233
	Obstacles	234
	Complexity	235
	Speed and Cost	235
	The Mobility Index Comparison Method	236
	The Practical Method	236
	Explain All This Using the Algebraic Method	237
Chapter 10	Manipulator Geometries	239
	Positioning, Orienting, How Many Degrees of Freedom?	241
	E-Chain	243
	Slider Crank	243
	Arm Geometries	245
	Cartesian or Rectangular	246
	Cylindrical	247
	Polar or Spherical	248
	The Wrist	250
	Grippers	252
	Passive Parallel Jaw Using Cross Tie	255
	Passive Capture Joint with Three Degrees of Freedom	256
	Industrial Robots	258
	Industrial Robot Advantages	259
	Trends in Industrial Robots	259
	Industrial Robot Characteristics	261
Chapter 11	Proprioceptive and Environmental Sensing Mechanisms and Devices	263
	Industrial Limit Switches	270
	Layouts	276
	Combination Trip (Sense) and Hard Stop	277
	By-Pass Layouts	278
	Reversed Bump	279
	Bumper Geometries and Suspensions	280
	Simple Bumper Suspension Devices	282
	Three Link Planar	283
	Tension Spring Star	284
	Torsion Swing Arm	284
	Horizontal Loose Footed Leaf Spring	285
	Sliding Front Pivot	286
	Suspension Devices to Detect Motions in All Three Planes	287
	Conclusion	289
	Index	291