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There are a few terms specific to mobile robots that must be defined to avoid confusion. First, the term robot itself has unfortunately come to have at least three different meanings. In this book, the word robot means an autonomous or semi-autonomous mobile land vehicle that may or may not have a manipulator or other device for affecting its environment. Colin Angle, CEO of iRobot Corp. defines a robot as a mobile thing with sensors that looks at those sensors and decides on its own what actions to take. In the manufacturing industry, however, the word robot means a reprogrammable stationary manipulator with few, if any sensors, commonly found in large industrial manufacturing plants. The third common meaning of robot is a teleoperated vehicle similar to but more sophisticated than a radio controlled toy car or truck. This form of robot usually has a microprocessor on it to aid in controlling the vehicle itself, perform some autonomous or automatic tasks, and aid in controlling the manipulator if one is onboard. This book mainly uses the first meaning of robot and focuses on things useful to making robots, but it also includes several references to mechanisms useful to both of the other types of robots. Robot and mobile robot are used interchangeably throughout the book. Autonomous, in this book, means acting completely independent of any human input. Therefore, autonomous robot means a self-controlled, selfpowered, mobile vehicle that makes its own decisions based on inputs from sensors. There are very few truly autonomous robots, and no known autonomous robots with manipulators on them whose manipulators are also autonomous. The more common form of mobile robot today is semiautonomous, where the robot has some sensors and acts partially on its own, but there is always a human in the control loop through a radio link or tether. Another name for this type of control structure is telerobotic, as opposed to a teleoperated robot, where there are no, or very few, sensors on the vehicle that it uses to make decisions. Specific vehicles in this book that do not use sensors to make decisions are labeled telerobotic or teleoperated to differentiate them from autonomous robots. It is important to note that the mechanisms and mechanical devices that are shown in this book can be applied, in their appropriate category, to almost any vehicle or manipulator whether autonomous or not. Another word, which gets a lot of use in the robot world, is mobility. Mobility is defined in this book as a drive system s ability to deal with the effects of heat and ice, ground cover, slopes or staircases, and to negotiate obstacles. Nine focuses entirely on comparing drive systems mobility based on a wide range of common obstacles found in
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outdoor and indoor environments, some of which can be any size (like rocks), others that cannot (like stair cases). I intentionally left out the whole world of hydraulics. While hydraulic power can be the answer when very compact actuators or high power density motors are required, it is potentially more dangerous, and definitely messier, to work with than electrically powered devices. It is also much less efficient a real problem for battery powered robots. There are many texts on hydraulic power and its uses. If hydraulics is being considered in a design, the reader is referred to Industrial Fluid Power (4 volumes) 3rd ed., published by Womack Education Publications. The designer has powerful tools to aid in the design process beyond the many tricks, mechanical devices, and techniques shown in this book. These tools include 3D design tools like SolidWorks and Pro-Engineer and also new ways to produce prototypes of the mechanisms themselves. This is commonly called Rapid Prototyping (RP).
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