Sandin P.E. Robot mechanisms and mechanical devices illustrated

McGraw-Hill, 2003. — xxvi, 300 p. — ISBN 0-07-142928-X.Text offers a one-stop source for everything needed for the mechanical design of state-of-the-art mobile robots. For hobbyists and professionals. Illustrated.
Both hobbyists and professionals will treasure this unique and distinctive sourcebook -- the most thorough -- and thoroughly explained -- compendium of robot mechanisms and devices ever assembled. Written and illustrated specifically for people fascinated with mobile robots, Robot Mechanisms and Mechanical Devices Illustrated offers a one-stop source for everything needed for the mechanical design of state-of-the-art mobile robots.New processes expand choices for rapid prototyping.
Motor and Motion Control Systems.Servomotors, Stepper Motors, and Actuators for Motion Control.
Servosystem Feedback Sensors.
Solenoids and Their Applications.
Actuator Count.
Indirect Power Transfer Devices.
Belts.
Smoother Drive Without Gears.
Chain.
Friction Drives.
Cone Drive Needs No Gears Or Pulleys.
Gears.
Worm Gear with Hydrostatic Engagement.
Controlled Differential Drives.
Twin-Motor Planetary Gears Provide Safety Plus Dual-Speed.
Harmonic-Drive Speed Reducers.
Flexible Face-Gears Make Efficient High-Reduction Drives.
High-Speed Gearheads Improve Small Servo Performance.
Direct Power Transfer Devices.
Couplings.
Methods for Coupling Rotating Shafts.
Coupling of Parallel Shafts.
Ten Different Splined Connections.
Torque Limiters.
Ten Torque-Limiters.
One Time Use Torque Limiting.
Wheeled Vehicle Suspensions and Drivetrains.
Wheeled Mobility Systems.
Why Not Springs?
Shifting the Center of Gravity.
Wheel Size.
Three-Wheeled Layouts.
Four-Wheeled Layouts.
All-Terrain Vehicle with Self-Righting and Pose Control.
Six-Wheeled Layouts.
Eight-Wheeled Layouts.
Tracked Vehicle Suspensions and Drive Trains.
Steering Tracked Vehicles.
Various Track Construction Methods.
Track Shapes.
Track Suspension Systems.
Track System Layouts.
Steering History.
Steering Basics.
Walkers.
Leg Actuators.
Leg Geometries.
Walking Techniques.
Roller-Walkers.
Flexible Legs.
Pipe Crawlers and Other Special Cases.
Horizontal Crawlers.
Vertical Crawlers.
Tracked Crawlers.
Other Pipe Crawlers.
External Pipe Vehicles.
Snakes.
Comparing Locomotion Methods.
What Is Mobility?
The Mobility System.
The Environment.
Complexity.
The Mobility Index Comparison Method.
The Practical Method.
Manipulator Geometries.
Positioning, Orienting, How Many Degrees of Freedom?
Arm Geometries.
Cartesian or Rectangular.
Cylindrical.
Polar or Spherical.
The Wrist.
Grippers.
Passive Parallel Jaw Using Cross Tie.
Passive Capture Joint with Three Degrees of Freedom.
Industrial Robots.
Proprioceptive and Environmental Sensing Mechanisms and Devices.
Industrial Limit Switches.
Layouts.
Bumper Geometries and Suspensions.
Simple Bumper Suspension Devices.