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

2. 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

3. 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

4. Motor and Motion Control Systems skip

5. 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)

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

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

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

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

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

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

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

13. Indirect Power Transfer Devices 3. friction drives

14. 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.

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

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

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

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

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

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

21. Direct Power Transfer Devices Couplings

22. Couplings

23. Couplings

24. Couplings

25. Universal Joints

26. Direct Power Transfer Devices Universal Joints

27. Direct Power Transfer Devices Universal Joints

28. Direct Power Transfer Devices Splines

29. Splines

30. Torque Limiters

31. 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

32. Shifting the Center of Gravity

33. 1-wheeled, 2-wheeled layouts

34. 3-wheeled layouts

35. 4-wheeled layouts

40. 5-wheeled layouts

42. 6-wheeled layouts

47. Adjustable Axle

48. 6-wheeled layouts

49. 8-wheeled layouts

53. 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.

54. Tracked Vehicles

55. 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

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

57. Track constructions

58. Track shapes

62. Track shapes – variable geometry

64. Track suspension systems

69. Track system layouts

77. Steering Basics - bicycle

78. Steering Basics - tricycle

80. Steering Basics - tracked

81. Steering Basics – 4-wheeled

83. Steering Basics - 4-wheeled

84. Steering Basics - tricycle

85. Steering Basics – drive and steer wheel

86. Steering Basics – synchro drive