AUTOR/ES: Paul E. Sandin
ISBN: 007141200X
AÑO: 2003
EDICION: 1ª
IDIOMA: Inglés
ENCUADERNACIÓN: Rústica
PÁGINAS: 350
FIGURAS: Profusamente ilustrado
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DE INTERES PARA: Ingeniería
RELACIONADOS: Eléctrica > Maquinas y mecanismos
PUNTOS CLAVE: 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
INDICE: 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
DATOS DEL AUTOR: Paul Sandin Paul Sandin (Randolph, MA) is a mechanical engineer with iRobot Corp, where he designs and builds systems for research robots. He was previously with RedZone Robotics, where he designed and tested similar ¿cutting-edge¿ large suspension systems. Paul has an intimate knowledge of robots, both large and small.