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FIGURE 23.1 A wetsuit drive belt.
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FIGURE 23.2 Two ways to add track drive to the Walkerbot presented in 22. a. Track roller arrangement for good traction and stability but relatively poor turning radius. b. Track roller arrangement for good turning radius, but hindered traction and stability.
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thick there can be no groove in the rollers. Otherwise, the track would ride inside the rollers, instead of outside. Wide rubber tires make good rollers. With this design, the track may pop off the rollers and drive wheels under certain circumstances. To help minimize the chances of throwing the track every few minutes, add a guide roller to the bottom of the carriage, as diagrammed in Fig. 23.3. The track rides inside a groove (or flange) in the small guide roller, and prevents the track from popping out of place. To propel the robot, you activate both motors so the tracks move in the same direction and at the same speed. To steer, you simply stop or reverse one side. For example, to turn left, stop the left track. To make a hard left turn, reverse the left track. The Walkerbot has six driven wheels. The three wheels on each side are linked together, so they all provide power to the track. But you don t need a three-wheel drive system. In fact, you can usually get by with just one driver wheel on each side of the robot.
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Using dual motors to effect propulsion and steering is just one method for getting your robot around. Another approach is to use a pivoting wheel to steer the robot. The same wheel can provide power, or power can come from two wheels in the rear (the latter is much more common). The arrangement is not unlike golf carts, where the two rear wheels provide power and a single wheel in the front provides steering. See Fig. 23.4 for a diagram of a typical steering-wheel robot. Fig. 23.5 shows a detail of the steering mechanism. The advantage of a steering-wheel robot is that you need only one powerful drive motor. The motor can power both rear wheels at once. The steering wheel motor needn t be as powerful since all it has to do is swivel the wheel back and forth a few degrees. The biggest disadvantage of steering-wheel systems is the steering! You must build stops into the steering mechanisms (either mechanical or electronic) to prevent the wheel from turning more than 50 or 60 to either side. Angles greater than about 60 cause the robot to suddenly steer in the other direction. They may even cause the robot to lurch to a sudden stop because the front wheel is at a right angle to the rear wheels.
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FIGURE 23.3 A close-up view of the flanged roller used to prevent the track from popping off the drive.
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Drive train Steering motor
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FIGURE 23.4 A basic arrangement for a robot using one drive motor and steering wheel.
The servomechanism that controls the steering wheel must know when the wheel is pointing forward. The wheel must return to this exact spot when the robot is commanded to forge straight ahead. Not all servomechanisms are this accurate. The motor may stop one or more degrees off the center point, and the robot may never actually travel in a straight line. A good steering motor, and a more sophisticated servomechanism, can reduce this limitation. A number of robot designs with steering-wheel mechanisms have been described in other robot books and on various Web pages. Check out Appendix A, Further Reading, and Appendix C, Robot Information on the Internet, for more information.
Six-Wheeled Robot Cart
You can also modify the Walkerbot described in 22 into a six-wheeled rugged terrain cart, or Buggybot. Simply remove the legs and attach wheels, as diagrammed in Fig. 23.6. The larger the wheels the better, as long as they aren t over about nine inches (the centerline diameter between each drive shaft).
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