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his book is meant to be interesting, helpful, and educational to hobbyists, students, educators, and midlevel engineers studying or designing mobile robots that do real work. It is primarily focused on mechanisms and devices that relate to vehicles that move around by themselves and actually do things autonomously, i.e. a robot. Making a vehicle that can autonomously drive around, both indoors and out, seems, at first, like a simple thing. Build a chassis, add drive wheels, steering wheels, a power source (usually batteries), some control code that includes some navigation and obstacle avoidance routines or some other way to control it, throw some bump sensors on it, and presto! a robot. Unfortunately, soon after these first attempts, the designer will find the robot getting stuck on what seem to be innocuous objects or bumps, held captive under a chair or fallen tree trunk, incapable of doing anything useful, or with a manipulator that crushes every beer can it tries to pick up. Knowledge of the mechanics of sensors, manipulators, and the concept of mobility will help reduce these problems. This book provides that knowledge with the aid of hundreds of sketches showing drive layouts and manipulator geometries and their work envelope. It discusses what mobility really is and how to increase it without increasing the size of the robot, and how the shape of the robot can have a dramatic effect on its performance. Interspersed throughout the book are unusual mechanisms and devices, included to entice the reader to think outside the box. It is my sincere hope that this book will decrease the time it takes to produce a working robot, reduce the struggles and effort required to achieve that goal, and, therefore, increase the likelihood that your project will be a success. Building, designing, and working with practical mobile robots requires knowledge in three major engineering fields: mechanical, electrical, and software. Many books have been written on robots, some focusing on the complete robot system, others giving a cookbook approach allowing a novice to take segments of chapters and put together
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a unique robot. While there are books describing the electric circuits used in robots, and books that teach the software and control code for robots, there are few that are focused entirely on the mechanisms and mechanical devices used in mobile robots. This book intends to fill the gap in the literature of mobile robots by containing, in a single reference, complete graphically presented information on the mechanics of a mobile robot. It is written in laymen s language and filled with sketches so novices and those not trained in mechanical engineering can acquire some understanding of this interesting field. It also includes clever schemes and mechanisms that mid-level mechanical engineers should find new and useful. Since mobile robots are being called on to perform more and more complex and practical tasks, and many are now carrying one or even two manipulators, this book has a section on manipulators and grippers for mobile robots. It shows why a manipulator used on a robot is different in several ways from a manipulator used in industry. Autonomous robots place special demands on their mobility system because of the unstructured and highly varied environment the robot might drive through, and the fact that even the best sensors are poor in comparison to a human s ability to see, feel, and balance. This means the mobility system of a robot that relies on those sensors will have much less information about the environment and will encounter obstacles that it must deal with on its own. In many cases, the microprocessor controlling the robot will only be telling the mobility system go over there without regard to what lays directly in that path. This forces the mobility system to be able to handle anything that comes along. In contrast, a human driver has very acute sensors: eyes for seeing things and ranging distances, force sensors to sense acceleration, and balance to sense levelness. A human expects certain things of an automobile s (car, truck, jeep, HumVee, etc.) mobility system (wheels, suspension, and steering) and uses those many and powerful sensors to guide that mobility system s efforts to traverse difficult terrain. The robot s mobility system must be passively very capable, the car s mobility system must feel right to a human. For these reasons, mobility systems on mobile robots can be both simpler and more complex than those found in automobiles. For example, the Ackerman steering system in automobiles is not actually suited for high mobility. It feels right to a human, and it is well suited to higher speed travel, but a robot doesn t care about feeling right, not yet, at least! The best mobility system for a robot to have is one that effectively accomplishes the required task, without regard to how well a human could use it.