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Two other forms of robotic power, which will not be discussed in depth in this book, are hydraulic and pneumatic. Hydraulic power uses oil or fluid pressure to move linkages. You ve seen hydraulic power at work if you ve ever watched a bulldozer move dirt from pile to pile. And while you drive you use it every day when you press down on the brake pedal. Similarly, pneumatic power uses air pressure to move linkages. Pneumatic systems are cleaner than hydraulic systems, but all things considered they aren t as powerful. Both hydraulic and pneumatic systems must be pressurized to work, and this pressurization is most often performed by a pump. The pump is driven by an electric motor, so in a way robots that use hydraulics or pneumatics are fundamentally electrical. The exception to this is when a pressurized tank, like a scuba tank, is used to provide air pressure in a pneumatic robot system. Eventually, the tank becomes depleted and must either be recharged using some pump on the robot or removed and filled back up using a compressor. Hydraulic and pneumatic systems are rather difficult to implement effectively, but they provide an extra measure of power in comparison to DC and AC motors. With a few hundred dollars in surplus pneumatic cylinders, hoses, fittings, solenoid valves, and a pressure supply (battery-powered pump, air tank, regulator), you could conceivably build a hobby robot that picks up chairs, bicycles, even people!
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As mentioned earlier, some robots aren t designed to move around. These include robotic arms, which manipulate objects placed within a work area. But these are exceptions rather
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than the rule for hobby robots, which are typically designed to get around in this world. They do so in a variety of ways, from using wheels to legs to tank tracks. In each case, the locomotion system is driven by a motor, which turns a shaft, cam, or lever. This motive force affects forward or backward movement.
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Wheels are the most popular method for providing robots with mobility. There may be no animals on this earth that use wheels to get around, but for us robot builders it s the simple and foolproof choice. Robot wheels can be just about any size, limited only by the dimensions of the robot and your outlandish imagination. Turtle robots usually have small wheels, less than two or three inches in diameter. Medium-sized rover-type robots use wheels with diameters up to seven or eight inches. A few unusual designs call for bicycle wheels, which despite their size are lightweight but very sturdy. Robots can have just about any number of wheels, although two is the most common. The robot is balanced on the two wheels by one or two free-rolling casters, or perhaps even a third swivel wheel. Four- and six-wheel robots are also around. You can read more about wheel designs in Part 3.
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A small percentage of robots particularly the hobby kind are designed with legs, and such robots can be conversation pieces all their own. You must overcome many difficulties to design and construct a legged robot. First, there is the question of the number of legs and how the legs provide stability when the robot is in motion or when it s standing still. Then there is the question of how the legs propel the robot forward or backward and more difficult still! the question of how to turn the robot so it can navigate a corner. Tough questions, yes, but not insurmountable. Legged robots are a challenge to design and build, but they provide you with an extra level of mobility that wheeled robots do not. Wheel-based robots may have a difficult time navigating through rough terrain, but legbased robots can easily walk right over small ditches and obstacles. A few daring robot experimenters have come out with two-legged robots, but the challenges in assuring balance and control render these designs largely impractical for most robot hobbyists. Four-legged robots (quadrapods) are easier to balance, but good locomotion and steering can be difficult to achieve. I ve found that robots with six legs (called hexapods) are able to walk at brisk speeds without falling and are more than capable of turning corners, bounding over uneven terrain, and making the neighborhood dogs and cats run for cover. Leg-based robots are discussed more fully in 22, Build a Heavyduty, Six-legged Walking Robot, where you can learn more about the Walkerbot, a brutish, insectlike bot strong enough to carry a bag of groceries.
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