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2.6 LOCOMOTION SYSTEMS
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As previously mentioned, 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 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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2.6.1 WHEELS
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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 2 or 3 in in diameter. Medium-sized rover-type robots use wheels with diameters up to 7 or 8 in. 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, creating a differentially driven robot (see Fig. 2-2). In this case, the robot is balanced on the two wheels by one or two free-rolling casters, or perhaps even a third swivel wheel. Larger, more powerful four- and six-wheel differentially driven robots have also been built. In these cases all the wheels on a side turn together and provide the robot with better stability and traction than just two wheels. There is a great deal of friction to be overcome, which necessitates powerful drive motors. Other common wheeled robots use a layout similar to a car or a tricycle. These robot chassis do not have the agility or stability of the differentially driven robot, but they can often be easily adapted from commercially available products such as toys.
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2.6.2 LEGS
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A minority 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
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Robot Base Drive Wheels
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FIGURE 2-2 Design of an ideal differentially driven robot.
ANATOMY OF A ROBOT
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. Legged robots create some tough challenges, but they are 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 legged 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. 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.
2.6.3 TRACKS
The basic design of track-driven robots (as shown in Fig. 2-3) is pretty simple and is based on the differentially driven principle used with wheeled robots. 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. Track drive is preferable 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
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