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THE BODY OF THE ROBOT
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The Body of the Robot
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Like the human body, the body of a robot at least a self-contained one holds all its vital parts. The body is the superstructure that prevents its electronic and electromechanical guts from spilling out. Robot bodies go by many names, including frame and chassis, but the idea is the same.
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In nature and in robotics, there are two general types of support frames: endoskeleton and exoskeleton. Which is better Both: In nature, the living conditions of the animal and its eating and survival tactics determine which skeleton is best. The same is true of robots.
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I Endoskeleton support frames are the kind found in many critters including humans,
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mammals, reptiles, and most fish. The skeletal structure is on the inside; the organs, muscles, body tissues, and skin are on the outside of the bones. The endoskeleton is a characteristic of vertebrates. I Exoskeleton support frames have the bones on the outside of the organs and muscles. Common exoskeletal creatures are spiders, all shellfish such as lobsters and crabs, and an endless variety of insects.
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The main structure of the robot is generally a wood, plastic, or metal frame, which is constructed a little like the frame of a house with a bottom, top, and sides. This gives the automaton a boxy or cylindrical shape, though any shape is possible. It could even emulate the human form, like the robot in Fig. 2.2. For a machine, however, the body shape of men and women is a terribly inefficient one. Onto the frame of the robot are attached motors, batteries, electronic circuit boards, and other necessary components. In this design, the main support structure of the robot can be considered an exoskeleton because it is outside the major organs. Further, this design lacks a central spine, a characteristic of endoskeletal systems and one of the first things most of us think about when we try to model robots after humans. In many cases, a shell is sometimes placed over these robots, but the skin is for looks only (and sometimes the protection of the internal components), not support. Of course, some robots are designed with endoskeletal structures, but most such creatures are reserved for high-tech research and development projects and science fiction films. For the most part, the main bodies of your robots will have an exoskeleton support structure because they are cheaper to build, stronger, and less prone to problems.
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The size and shape of the robot can vary greatly, and size alone does not determine the intelligence of the machine nor its capabilities. Homebrew robots are generally the size of a small dog, although some are as compact as an aquarium turtle and a few as large as
14 ANATOMY OF A ROBOT
FIGURE 2.2 The android design of robots is the most difficult to achieve, not only because of its bipedal (two-leg) structure, but because it distributes the weight toward the mid and top sections of the body. In reality, this android is science fiction writer J. Steven York modeling the latest in casual robot ready-to-wear.
THE BODY OF THE ROBOT
Arnold Schwarzenegger (if one of these asks you Are you Sarah Conner answer No! ). The overall shape of the robot is generally dictated by the internal components that make up the machine, but most designs fall into one of the following categories :
I Turtle. Turtle robots are simple and compact, designed primarily for tabletop robotics.
Turtlebots get their name from the fact that their bodies somewhat resemble the shell of a turtle and also from early programming language, turtle graphics, which was adapted for robotics use in the 1970s. I Vehicle. These scooter-type robots are small automatons with wheels. In hobby robotics, they are often built using odds and ends like used compact discs, extra LEGO parts, or the chassis of a radio-controlled car. The small vehicular robot is also used in science and industry: the Rover Sojourner, built by NASA, explored the surface of Mars in July 1997. I Rover. Greatly resembling the famous R2-D2 of Star Wars fame, rovers tend to be short and stout and are typically built with at least some humanlike capabilities, such as firefighting or intruder detection. Some closely resemble a garbage can in fact, not a few hobby robots are actually built from metal and plastic trash cans! Despite the euphemistic title, garbage can robots represent an extremely workable design approach. I Walker. A walking robot uses legs, not wheels or tracks, to move about. Most walker bots have six legs, like an insect, because they provide excellent support and balance. However, robots with as few as one leg ( hoppers ) and as many as 8 to 10 legs have been successfully built and demonstrated. I Appendage. Appendage designs are used specifically with robotic arms, whether the arm is attached to a robot or is a stand-alone mechanism. I Android. Android robots are specifically modeled after the human form and are the type most people picture when talk turns to robots. Realistically, android designs are the most restrictive and least workable, inside or outside the robot lab. This book provides designs and construction details for at least one robot in every one of the preceding types except Android. I ll leave that to another book.
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