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In some cases, the torque limit can be set very high, beyond the practical limit of a torque limiter, or the device that is being protected needs only a one-time protection from damage. In this case, a device called a shear pin is used. In mobile robots, particularly in autonomous robots, it will be found that a torque limiter is the better choice, even if a large one is required to handle the torque. With careful control of motor power, both accelerating and braking, even torque limiters can be left out of most designs. Torque limiters should be considered as protective devices for motors and gearboxes and are not designed to fail very often. They don t often turn up in the drive system of mobile robots, because the slow moving robot rarely generates an overload condition. They do find a place in manipulators to prevent damage to joints if the manipulator gets overloaded. If a torque limiter is used in the joint of a manipulator, the joint must have a proprioceptive sensor that senses the angle or extension of the joint so that the microprocessor has that information after the joint has slipped. Figure 3-54 shows a basic shear pin torque limiter.

Downloaded from Digital Engineering Library @ McGraw-Hill (www.digitalengineeringlibrary.com) Copyright 2004 The McGraw-Hill Companies. All rights reserved. Any use is subject to the Terms of Use as given at the website.

Figure 3-54 A shear pin is a simple and reliable torque limiter. However, after an overload, removing the sheared pin stubs and replacing them with a new pin can be time consuming. Be sure that spare shear pins are available in a convenient location.

The Plan In the beginning was the Plan. And then came the Assumptions. And the Assumptions were without form. And the Plan was completely without substance. The Workers And the darkness was upon the face of the workers as they spake unto their Group Head saying: It is a crock of shit and it stinketh.

4

Both fabric login and N_Port login are intended to be long-lived. Once logged in, a device can stay logged in indefinitely, even if it has no further data to transmit at that time.

iven the definition of robot in the introduction to this book, the most vital mechanical part of a robot must be its mobility system, including the suspension and drivetrain, and/or legs and feet The ability of the these systems to effectively traverse what ever terrain is required is paramount to the success of the robot, but to my knowledge, there has never been an apples to apples comparison of mobility systems First, just what is a mobility system A mobility system is all parts of a vehicle, a land-based robot for the purposes of this book, that aid in locomoting from one place to another.

This means all motors, gearboxes, suspension pieces, transmissions, wheels, tires, tracks, springs, legs, foot pads, linkages, mechanisms for moving the center of gravity, mechanisms for changing the shape or geometry of the vehicle, mechanisms for changing the shape or geometry of the drivetrain, mechanisms and linkages for steering, etc, are parts of mobility systems The systems and mechanisms described in this book are divided into four general categories: wheeled, tracked, walkers, and special cases Each gets its own chapter, and following the chapter on special cases is a separate chapter devoted to comparing the effectiveness of many of the systems There are some that are described in the text that are not discussed in Nine These are mostly very interesting designs that are worth describing, but their mobility or some other trait precludes comparing them to the other designs.

The easiest way to understand the methods by which information is transmitted over Fibre Channel is by looking at the form of a hierarchy.

The Group Heads And the Group Heads went unto their Section Heads and sayeth: It is a pail of dung and none may abide the odor thereof. The Section Heads And the Section Heads went unto their Managers and sayeth unto them: It is a container of excrement. And it is very strong. Such that none may abide it. The Managers And the Managers went unto their Director and sayeth unto him: It is a vessel of fertilizer. And none may abide its strength. The Director And the Director went unto the Vice President and sayeth unto him: It promoteth growth and is very powerful. The Vice President And the VP went unto the President and sayeth unto him: This powerful new Plan will actively promote the growth and efficiency of the Company.