BUILDING ROBOT DRIVE TRAINS PDF
BUILDING ROBOT DRIVE TRAINS. pages. If you're hooked on amateur robotics and want a clear, straight-forward guide to the nuts- and-bolts of drive trains. Simple & cheap to design, build, and program robot. • Several drivetrains to choose from. • Each one has its own strengths and weaknesses. Robot Drive Systems. 1. Drive System ground clearance, obstacle "protection," drive wheels on floor climbing .. Using multiple motors is common for drive trains. We will .. makes it easier to design and build. - will get it up.
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robot sumo and tug of war to test drive train and chassis performance. DESIGN/ BUILD/TEST/ PLAY. Use The GEARS-IDS™ Invention and Design. System to. Building Robot Drive Trains (Tab Robotics) [Dennis Clark, Michael Owings] on rainbowgiraffe.info *FREE* shipping on qualifying offers. Publisher's Note: Products. This thesis aims at building a locomotion mechanism that forms the base of a . Safety Trophy is to develop an autonomous robot that is able to drive safely from .. differences in the motors, friction differences in the drive trains, and friction.
Other flying robots include cruise missiles , the Entomopter, and the Epson micro helicopter robot.
Robots such as the Air Penguin, Air Ray, and Air Jelly have lighter-than-air bodies, propelled by paddles, and guided by sonar. Snaking[ edit ] Several snake robots have been successfully developed. Mimicking the way real snakes move, these robots can navigate very confined spaces, meaning they may one day be used to search for people trapped in collapsed buildings.
It has four legs, with unpowered wheels, which can either step or roll.
One approach mimics the movements of a human climber on a wall with protrusions; adjusting the center of mass and moving each limb in turn to gain leverage. An example of this is Capuchin,  built by Dr. Ruixiang Zhang at Stanford University, California. Another approach uses the specialized toe pad method of wall-climbing geckoes , which can run on smooth surfaces such as vertical glass.
Examples of this approach include Wallbot  and Stickybot.
According to Dr. Li, the gecko robot could rapidly climb up and down a variety of building walls, navigate through ground and wall fissures, and walk upside-down on the ceiling.
It was also able to adapt to the surfaces of smooth glass, rough, sticky or dusty walls as well as various types of metallic materials.
FRC Control System
It could also identify and circumvent obstacles automatically. Its flexibility and speed were comparable to a natural gecko.
However, they are difficult to use indoors such as on carpets and smooth floors. Several robots have been made which can walk reliably on two legs, however, none have yet been made which are as robust as a human.
Typically, robots on two legs can walk well on flat floors and can occasionally walk up stairs. None can walk over rocky, uneven terrain. The robot's onboard computer tries to keep the total inertial forces the combination of Earth 's gravity and the acceleration and deceleration of walking , exactly opposed by the floor reaction force the force of the floor pushing back on the robot's foot.
In this way, the two forces cancel out, leaving no moment force causing the robot to rotate and fall over.
However, it still requires a smooth surface to walk on. Initially, a robot with only one leg, and a very small foot could stay upright simply by hopping. The movement is the same as that of a person on a pogo stick.
As the robot falls to one side, it would jump slightly in that direction, in order to catch itself. A bipedal robot was demonstrated running and even performing somersaults.
Main article: Passive dynamics Perhaps the most promising approach utilizes passive dynamics where the momentum of swinging limbs is used for greater efficiency. It has been shown that totally unpowered humanoid mechanisms can walk down a gentle slope, using only gravity to propel themselves. Using this technique, a robot need only supply a small amount of motor power to walk along a flat surface or a little more to walk up a hill.
Left one has 64 motors with 2 degrees of freedom per segment , the right one Both use the number of teeth on each gear as key values, although their order is reversed. Gear Ratio is expressed this way: Driving Gear Teeth: Driven Gear Teeth.
Gear Reduction is expressed in reverse: Gear Reduction is seen as a fraction that is often reduced to simplify the expression. A simple Gear Train is a connected set of rotating gears that transmits power from an input like a Driving Gear connected to a motor to an output like a Driven Gear connected to a wheel or mechanism. Simple Gear Trains can have any number of gears in a single row.
In all three of these example Gear Trains , the Driving Gear is teeth and the Driven Gear is teeth, thus the Gear Ratio for all three examples is the exact same - In certain situations, a design may require more mechanical advantage than a single gear ratio can provide or is otherwise impractical. In this situation, a designer can use multiple gear reductions in the same mechanism.While testing the program, if the robot moves backwards, invert the direction arrow.
For our group of two people, we opt to develop predetermined and are the same for both teams. A typical sailboat robot is Vaimos . To sense the lines, light-dependent resistors II.
By varying the speeds of the wheels in addition to the direction, movements can be combined resulting in translation in any direction and rotation, simultaneously. A mecanum robot can move in any direction without first turning and is called a holonomic drive.
Again I'll attach it to the motor using these black pins.
Each pair has its own Gear Ratio , and a shared axle connects the pairs to each other. Answer: Increase the power level output of the motors. On a flat road, a high gear ratio speeds up the vehicle, while climbing up a hill, a small gear ratio produces the necessary force to push the vehicle.