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The basic design of track-driven robots is pretty simple. Two tracks, one on each side of the robot, act as giant wheels. The tracks turn, like wheels, and the robot lurches forward or backward. For maximum traction, each track is about as long as the robot itself.
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20 ANATOMY OF A ROBOT
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Track drive is practical for many reasons, including the fact that it makes it possible to mow through all sorts of obstacles, like rocks, ditches, and potholes. Given the right track material, track drive provides excellent traction, even on slippery surfaces like snow, wet concrete, or a clean kitchen floor. Alas, all is not rosy when it comes to track-based robots. Unless you plan on using your robot exclusively outdoors, you should probably stay away from track drive. Making the drive work can be harder than implementing wheels or even legs.
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Arms and Hands
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The ability to manipulate objects is a trait that has enabled humans, as well as a few other creatures in the animal kingdom, to manipulate the environment. Without our arms and hands, we wouldn t be able to use tools, and without tools we wouldn t be able to build houses, cars, and hmmm, robots. It makes sense, then, to provide arms and hands to our robot creations so they can manipulate objects and use tools. A commercial industrial robot arm is shown in Fig. 2.4. Chaps. 24 through 27 in Part 4 of this book are devoted entirely to robot arms and hands. You can duplicate human arms in a robot with just a couple of motors, some metal rods, and a few ball bearings. Add a gripper to the end of the robot arm and you ve created a complete arm-hand module. Of course, not all robot arms are modeled after the human appendage. Some look more like forklifts than arms, and a few use retractable push rods to move a hand or gripper toward or away from the robot. See 24, An Overview of Arm Systems, for a more complete discussion of robot arm design. Chaps. 25 and 26 concentrate on how to build several popular types of robot arms using a variety of construction techniques.
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Some arms are complete robots in themselves. Car manufacturing robots are really arms that can reach in just about every possible direction with incredible speed and accuracy. You can build a stand-alone robotic arm trainer, which can be used to manipulate objects within a defined workspace. Or you can build an arm and attach it to your robot. Some arm-robot designs concentrate on the arm part much more than the robot part. They are, in fact, little more than arms on wheels.
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Robot hands are commonly referred to as grippers or end effectors. We ll stick with the simpler sounding hands and grippers in this book. Robot grippers come in a variety of styles; few are designed to emulate the human counterpart. A functional robot claw can be built that has just two fingers. The fingers close like a vise and can exert, if desired, a surprising amount of pressure. See 27, Experimenting with Gripper Designs for more information.
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SENSORY DEVICES
FIGURE 2.4. A robotic arm from General Electric is designed for precision manufacturing. Photo courtesy General Electric.
Sensory Devices
Imagine a world without sight, sound, touch, smell, or taste. Without these senses, we d be nothing more than an inanimate machine, like the family car, the living room television, or that guy who hosts the Channel 5 late-night movie. Our senses are an integral part of our lives if not life itself. It makes good sense (pardon the pun) to build at least one of these senses into your robot designs. The more senses a robot has, the more it can interact with its environment. That capacity for interaction will make the robot better able to go about its business on its own, which makes possible more sophisticated tasks. Sensitivity to sound is a sensory system commonly given to robots. The reason: Sound is easy to detect, and unless you re trying to listen for a specific kind of sound, circuits for sound detection are simple and straightforward. Sensitivity to light is also common, but the kind of light is usually restricted to a slender band of infrared for the purpose of sensing the heat of a fire or navigating through a room using an invisible infrared light beam.
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