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like gears. These devices could all be called synchronous because they keep the input and output shafts in synch, but roller chain is usually left out of this category because the rollers allow some relative motion between the chain and the sprocket. The term synchronous is usually applied only to toothed belts which fit on their sprockets much tighter than roller chain. For power transfer methods that require attaching one shaft to another, like motor-mounted gearboxes driving a separate output shaft, a method to deal with misalignment and vibration should be incorporated. This is done with shaft couplers and flexible drives. In some cases where shock loads might be high, a method of protecting against overloading and breaking the power transfer mechanism should be included. This is done with torque limiters and clutches. Let s take a look at each method. We ll start with mechanisms that transfer power between shafts that are not inline, then look at couplers and torque limiters. Each section has a short discussion on how well that method applies to mobile robots.
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Belts are available in at least 4 major variations and many smaller variations. They can be used at power levels from fractional horsepower to tens of horsepower. They can be used in variable speed drives, remembering that this may cause control problems in an autonomous robot. They are durable, in most cases quiet, and handle some misalignment. The four variations are flat belt O-ring belt V-belt timing belt
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There are many companies that make belts, many of which have excellent web sites on the world wide web. Their web sites contain an enormous amount of information about belts of all types. V-belt.com fennerprecision.com brecoflex.com gates.com
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Flat belts are an old design that has only limited use today. The belt was originally made flat primarily because the only available durable belt material was leather. In the late 18th and early 19th centuries, it was used extensively in just about every facility that required moving rotating power from one place to another. There are examples running in museums and some period villages, but for the most part flat belts are obsolete. Leather flat belts suffered from relatively short life and moderate efficiency. Having said all that, they are still available for low power devices with the belts now being made of more durable urethane rubber, sometimes reinforced with nylon, kevlar, or polyester tension members. They require good alignment between the driveR and driveN pulleys and the pulleys themselves are not actually flat, but slightly convex. While they do work, there are better belt styles to use for most applications. They are found in some vacuum cleaners because they are resistant to dirt buildup.
O-Ring Belts
O-ring belts are used in some applications mostly because they are extremely cheap. They too suffer from moderate efficiency, but their cost is so low that they are used in toys and low power devices like VCRs etc. They are a good choice in their power range, but require proper tension and alignment for good life and efficiency.
V-Belts
V-belts get their name from the shape of a cross section of the belt, which is similar to a V with the bottom chopped flat. Their design relies on friction, just like flat belts and O-ring belts, but they have the advantage that the V shape jams in a matching V shaped groove in the pulley. This increases the friction force because of the steep angle of the V and therefore increases the transmittable torque under the same tension as is required for flat or O-ring belts. V-belts are also very quiet, allow some misalignment, and are surprisingly efficient. They are a good choice for power levels from fractional to tens of horsepower. Their only draw-
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