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We can use the di erential s special ability to make our mobile base drive forward in a straight line but turn as it drives backward. One way to do this is to put a ratchet on one of the wheels. A ratchet lets a gear move in one direction but not the other (Fig. 9-28).
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CHAPTER 9 Power Transmission
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Fig. 9-28.
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Ratchet on reverse.
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The near wheel is invisible in this gure so you can see the ratchet. The gear replaces the spacer, and the ratchet connector meshes with its teeth. Rotating one direction, the connector rides on the teeth. Reverse it, however, and the connector locks on a gear tooth preventing further rotation. In reverse, the di erential is forced to put all of the torque into the other wheel. The base turns around the locked wheel.
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There are two fundamental aspects of power transmission. The rst and most obvious aspect is moving mechanical force to its destination. In some special cases, this is easy: you connect the output load directly to the power source. In many cases you need to compensate for misalignment of the load and the power source. In more dramatic cases you may need to carry the power around corners, or the load could be along a di erent axis of rotation than the source. In addition to moving power from one place to another, you may need to change its characteristics. Rotating force has torque and rotational velocity. Using di erent gearing schemes you can trade one for the other. Since motors are more e cient when they spin quickly, and most loads need power
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CHAPTER 9 Power Transmission
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instead of speed, you use some kind of gear train in almost all mechanical applications. By clever use of gears and other mechanisms, you can expand the behavior of your power transmission system. For example, di erential gearing allows you to apply power to two wheels that may need to rotate at di erent speeds. Other techniques let you apply power di erently depending on whether your power source is rotating in one direction or another. A mechanical transmission can eliminate the need for electronic control systems in some cases.
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Quiz
1. 2. 3. 4. 5. 6. 7. What do you use if your chain is getting too long or too droopy What can a chain be used for What can gears do What are split gears good for and why would you use them Name some of the gear types and describe how they are used. What do couplers do What kind of gear system can apply power to two wheels while, at the same time, letting those wheels turn at di erent speeds
CHAPTER
Beyond Resistance: Capacitance
Introduction
You may have noticed that there is a lot to learn if you want to understand robots especially if you hope to create your own robots. Each aspect of robot creation is an entire eld in itself: mechanics, electronics, control theory. Even the power drivers used to run motors have their own specialty. This chapter continues the electronics thread, adding one more piece to the puzzle. Resistance was a simple property that we explored in 5. Resistance is pretty much a xed attribute. Except for changes due to heating, resistors have the same e ect on a circuit under all conditions.
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Capacitance
Some components, such as the diode, change their behavior depending on the direction in which the current is moving. These components have to be plugged in correctly to work correctly. Other components, such as capacitors, are more subtle. The e ect of a capacitor is di erent depending on how quickly the voltage in the circuit is changing. Before we can talk about capacitance, we need to discuss the di erent ways voltage appears in a circuit.
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