Robot Mechanisms and Mechanical Devices Illustrated

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.

INTRODUCTIONACKNOWLEDGMENTSChapter 1: Motor and Motion Control SystemsIntroductionServosystem Feedback SensorsSolenoids and Their ApplicationsActuator Count Chapter 2: Indirect Power Transfer DevicesSmoother Drive Without GearsChainFriction DrivesCone Drive Needs No Gears or PulleysGearsHarmonic-Drive Speed ReducersFlexible Face-Gears Make Efficient High-Reduction DrivesHigh-Speed Gearheads Improve Small Servo PerformanceChapter 3: Direct Power Transfer DevicesCouplingsTen Different Splined ConnectionsTorque LimitersTen Torque-LimitersOne Time Use Torque LimitingChapter 4: Wheeled Vehicle Suspensions and DrivetrainsWheeled Mobility SystemsWhy Not Springs?Shifting the Center of GravityWheel SizeThree-Wheeled LayoutsFour-Wheeled LayoutsAll-Terrain Vehicle with Self-Righting and Pose ControlSix-Wheeled LayoutsEight-Wheeled LayoutsChapter 5: Tracked Vehicle Suspensions and Drive TrainsSteering Tracked VehiclesVarious Track Construction MethodsTrack ShapesTrack Suspension SystemsTrack System LayoutsChapter 6: Steering HistorySteering BasicsChapter 7: WalkersRoller-WalkersFlexible LegsChapter 8: Pipe Crawlers and other Special CasesHorizontal CrawlersVertical CrawlersTracked CrawlersOther Pipe CrawlersExternal Pipe VehiclesSnakesChapter 9: Comparing Locomotion MethodsWhat Is Mobility?The Mobility SystemThe EnvironmentComplexityThe Mobility Index Comparison MethodThe Practical MethodChapter 10: Manipulator GeometriesPositioning, Orienting, How Many Degrees of Freedom?Arm GeometriesCartesian or RectangularCylindricalPolar or SphericalThe WristGrippersPassive Parallel Jaw Using Cross TiePassive Capture Joint with Three Degrees of FreedomIndustrial RobotsChapter 11: Proprioceptive and Environmental Sensing Mechanisms and DevicesIndustrial Limit SwitchesLayoutsBumper Geometries and SuspensionsSimple Bumper Suspension DevicesConclusionINDEX