Robot mechanisms and mechanical devices illustrated
著者
書誌事項
Robot mechanisms and mechanical devices illustrated
（Tab robotics）
McGraw-Hill, c2003
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注記
Includes index
内容説明・目次
内容説明
This title covers virtually everything related to mobile robots - destined to become the definitive work on robot mechanisms. It discusses the manipulators, grippers, and mechanical sensors used in mobile robotics, and 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. It is a must read for anyone interested in the field of high-mobility vehicles.
目次
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
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