Ref : Ref : Paul E. Sandin, Robot Mechanisms and Mechanical Devices Illustrated, McGraw-Hill, 2003

Introduction ● Designing mobile robots ● Knowledge of Mechanics of Sensors, Manipulators, and the Concept of Mobility ● Knowledge of Mechanical, Electrical, and Software ● Robots ? ● Autonomous robots ? ● Rapid Prototyping - RP

Contents 1.Motor and Motion Control Systems 2.Indirect Power Transfer Devices 3.Direct Power Transfer Devices 4.Wheeled Vehicle Suspensions and Drivetrains 5.Tracked Vehicle Suspensions and Drivetrains 6.Steering History 7.Walkers 8.Pipe Crawlers and Other Special Cases 9.Comparing Locomotion Methods 10.Manipulator Geometries 11.Proprioceptive and Environmental Sensing Mechanisms and Devices

Motor and Motion Control Systems skip

Indirect Power Transfer Devices 1. belts (flat, round, V-belts, timing) 2. chain (roller, ladder, timing) plastic-and-cable chain (bead, ladder, pinned) plastic-and-cable chain (bead, ladder, pinned) 3. friction drives 4. gears (spur, helical, bevel, worm, rack and pinion, and many others)

Indirect Power Transfer Devices 1. belts (flat, round, V-belts, timing)

Indirect Power Transfer Devices 1. belts (flat, round, V-belts, timing)

Indirect Power Transfer Devices 1. belts (flat, round, V-belts, timing)

Indirect Power Transfer Devices 2. chain (roller, ladder, timing)

Indirect Power Transfer Devices 2. chain (roller, ladder, timing)

Indirect Power Transfer Devices 2. chain (roller, ladder, timing)

Indirect Power Transfer Devices 2. chain (roller, ladder, timing)

Indirect Power Transfer Devices 3. friction drives

Indirect Power Transfer Devices 4. gears (spur, helical, bevel, worm, rack and pinion, and many others) ● Changing rotational speed. ● Changing rotational direction. ● Changing the angular orientation of rotational motion. ● Multiplication or division of torque or magnitude of rotation. ● Converting rotational to linear motion and its reverse. ● Offsetting or changing the location of rotating motion.

Indirect Power Transfer Devices 4. gears (spur, helical, bevel, worm, rack and pinion, and many others)

Indirect Power Transfer Devices 4. gears (spur, helical, bevel, worm, rack and pinion, and many others)

Indirect Power Transfer Devices 4. gears (spur, helical, bevel, worm, rack and pinion, and many others)

Indirect Power Transfer Devices 4. gears (spur, helical, bevel, worm, rack and pinion, and many others)

Indirect Power Transfer Devices 4. gears (spur, helical, bevel, worm, rack and pinion, and many others)

Indirect Power Transfer Devices 4. gears (spur, helical, bevel, worm, rack and pinion, and many others)

Direct Power Transfer Devices Couplings

Couplings

Couplings

Couplings

Universal Joints

Direct Power Transfer Devices Universal Joints

Direct Power Transfer Devices Universal Joints

Direct Power Transfer Devices Splines

Splines

Torque Limiters

Wheeled Vehicle Suspensions and Drivetrains 1.Mobility systems – suspensions, drivetrains, legs or feet. 2.Locomotion 3.Wheeled, tracked, walkers, and special cases 4.1-3, and 4-wheeled 5.4 and 5-wheeled 6.6- wheeled 7.8-wheeled

Shifting the Center of Gravity

1-wheeled, 2-wheeled layouts

3-wheeled layouts

4-wheeled layouts

5-wheeled layouts

6-wheeled layouts

Adjustable Axle

6-wheeled layouts

8-wheeled layouts

Summary 1.Wheel size; the larger the wheel, able to get over the larger obstacle. 2.Number of wheels; - 1 & 2 wheels; statically unstable. - 3 or more wheels; statically stable. 3. In 4 wheels or more, some the wheels may be lifted up the ground. 4. More driven wheel, better mobility.

Tracked Vehicles

Tracked Vehicles - Advantages Ability to overcome obstacles like : very soft terrain: loose sand, deep mud, and soft powder snow obstacles of a size that can get jammed between wheels crevasses

Tracked Vehicles ● Steering of tracked vehicles ● Track constructions ● Track shapes ● Track suspension systems ● Track system layouts

Track constructions

Track shapes

Track shapes – variable geometry

Track suspension systems

Track system layouts

Steering Basics - bicycle

Steering Basics - tricycle

Steering Basics - tracked

Steering Basics – 4-wheeled

Steering Basics - 4-wheeled

Steering Basics - tricycle

Steering Basics – drive and steer wheel

Steering Basics – synchro drive