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18.8 LOCOMOTION ISSUES
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ance favors one wheel or track over the other the right side versus the left side, for example. This can cause the robot to continually crab toward the heavier side. Since the heavier side has more weight, traction is improved, but motor speed may be impaired because of the extra load.
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18.7 Vertical Center of Gravity
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City skyscrapers must be rooted firmly in the ground or else there is a risk they will topple over in the slightest wind. The taller an object is, the higher its center of gravity. Of critical importance to vertical center of gravity is the footprint or base area of the object that is, the amount of area in contact with the ground. The ratio between the vertical center of gravity and the area of the base determines how likely it is that the object will fall over. A robot with a small base but high vertical center of gravity risks toppling over. You can correct such a design in either of two ways:
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Reduce the height of the robot to better match the area of the base, or Increase the area of the base to compensate for the height of the robot.
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(There is also a third method called dynamic balance. Here, mechanical weight is dynamically repositioned to keep the robot on even kilter. These systems are difficult to engineer and, in any event, are beyond the scope of this book.) Which method you choose will largely depend on what you plan to use your robot for. For example, a robot that must interact with people should be at least toddler height. For a pet-size robot, you ll probably not want to reduce the height, but rather increase the base area to prevent the robot from tipping over.
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18.8 Locomotion Issues
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The way your robot gets from point A to point B is called locomotion. Robot locomotion takes many forms, but wheels and tracks are the most common. Legged robots are also popular, especially among hobbyists, as designing them represents a challenge both in construction and weight-balance dynamics.
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18.8.1 WHEELS AND TRACKS
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Wheels, and to a lesser extent tracks, are the most common means chosen to move robots around. However, some wheels are better for mobile robots than others. Some of the design considerations you may want to keep in mind include the following:
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The wider the wheels, the more the robot will tend to stay on course. With very narrow wheels, the robot may have a tendency to favor one side or the other and will trace a slow curve instead of a straight line. Conversely, if the wheels are too wide, the friction
PRINCIPLES OF ROBOT LOCOMOTION
created by the excess wheel area contacting the ground may hinder the robot s ability to make smooth turns. Two driven wheels positioned on either side of the robot (and balanced by one or two casters on either end) can provide full mobility. This is the most common drive wheel arrangement and is called a differential drive. Tracks turn by skidding or slipping, and they are best used on surfaces such as dirt that readily allow low-friction steering. Four or more driven wheels, mounted in sets on each side, will function much like tracks. In tight turns, the wheels will experience significant skidding, and they will therefore create friction over any running surface. If you choose this design, position the wheel sets close together. You should select wheel and track material to reflect the surface the robot will be used on. Rubber and foam are common choices; both provide adequate grip for most kinds of surfaces. Foam tires are lighter in weight, but they don t skid well on hard surfaces (such as hardwood or tile floors).
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