vb.net barcode reader usb TRACK SUSPENSION SYSTEMS in Software

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The space between the drive sprocket and idler wheel needs to be uniformly supported on the ground to achieve the maximum benefit of tracks. This can be done in one of several ways. The main differences between these methods is drive efficiency, complexity, and ride characteristics. For especially long tracks, the top must also be supported, but
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Tracked Vehicle Suspensions and Drivetrains
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Figure 5-7
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Fixed road wheels
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this is usually a simple passive roller or two evenly spaced between the drive sprocket and idler. The main types of ground support methods are Guide blades Fixed road wheels Rocker road wheel pairs Road wheels mounted on sprung axles
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Guide blades are simple rails that are usually designed to ride in the V shaped guide receivers on the track s links. They can extend continuously from one end to the other, and therefore are the most effective at supporting the track along its whole length. Unfortunately, they are also quite inefficient since there is the long sliding surface that cannot be practically lubricated. They also produce a jarring ride for the rest of the vehicle. One step up from guide blades is fixed road wheels (Figure 5-7). These are wheels on short stub-shafts solidly mounted to the robot s chassis. The wheels can be small relative to the track, since the thing they roll on is always just the smooth inner surface of the track. They too produce a jarring ride, more so than guide blades, but they are far more efficient. Fixed rollers are a good choice for a robust track system on a robot since ride comfort is not as important, at lower speeds, as on a vehicle carrying a person. The bumpy ride does hamper track efficiency, however, because the chassis is being moved up and down by the rough terrain. Reducing this
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Figure 5-8 rockers
Road wheels on
motion is especially beneficial at higher speeds, and the rocker layout used on wheeled vehicles is almost as effective on tracks. The rollers are mounted in pairs on rockers between the drive sprocket and the idler wheel. The rockers (Figure 5-8) allow the track to give a little when traversing bumpy terrain, which reduces vertical motion of the robot chassis. Careful tensioning of the track is essential with movable road wheels. The most complex, efficient, and smooth ride is produced by mounting the road wheels on sprung axles. There are three main types of suspension systems in common use. Trailing arm on torsion spring Trailing arm with coil spring Leaf spring rocker The trailing arm on a torsion spring is pictured in Figure 5-9. It is a simple device that relies on twisting a bunch of steel rods, to which the trailing arm is attached at one end. It gets its name because the arms that support the wheel trail behind the point where they attach, through the torsion springs, to the chassis. The road wheels mount to the end of the trailing arms and forces on the road wheel push up on the arm, twisting the steel rods. This system was quite popular in the 1940s and 1950s and was used on the venerable Volkswagen beetle to support the front wheels. It was also used on the Alvis Stalwart, described in more detail in Four. You can also support the end of the trailing arm with a coil spring, or even a coil over-shock suspension system that can probably produce the smoothest ride of any track system (Figure 5-10). The shock can also be added to the torsion arm suspension system. The advantage of the coil
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Figure 5-9
Trailing arm
Figure 5-10 Trailing arm and coil springs
spring over the torsion suspension is that the load is supported by the spring very close to the load point, reducing forces and moments in the trailing arm. This can reduce the weight of the suspension system, and puts the system more inside the track s volume rather than inside the chassis.
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