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The simplest type of joint provides a simple rotation around one axis (Fig. 8-1). If you recall from 2, an axis is a direction, or vector, in space. In this context, it is the pivot upon which we turn. An axle. Wheels spin around axles and provide a familiar example of rotation. The axle is so common that we don t even notice it. A rough pivot can be made by hammering a nail through two boards. Better versions provide one or two smooth holes with a smooth rod to turn in them. Rotation occurs around a pivot, axle, pin, or shaft. These are all cylinders that pass through holes in the parts. The pivot may be free- oating or it could be rigidly fastened to one of the pieces. Figure 8-2 shows a number of di erent pivots. These are general purpose, and wouldn t work for a high-speed or heavy machine. A bolt is shown in the top-left corner of the gure. Bolts are not good to use as axles in most places. They are designed to hold things together in tension, not to provide a pivot point. However, smooth shaft bolts like the one pictured can be used for light-duty projects. The washers on both ends keep the head and nut from catching on the pivoting material. Under the bolt is a pin with a shaft collar on it. The collar has a screw set into its side (a set screw) that passes through the collar and presses into the pin. This keeps the collar from sliding o , so your machine stays in one piece.

Hobby Robotics LEGO Robotics and LEGO Building Technical Robotics, Theory and Design Artificial Intelligence and Behavior-Based Robotics Mechanical Design Electronic Components Microcontroller/Microprocessor Programming and Interfacing Electronics How-to and Theory Power Supply Design and Construction Lasers and Fiber Optics

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Build Your Own Robot! Karl Lunt, A K Peters, ISBN: 1568811020 Robots, Androids, and Animatrons: 12 Incredible Projects You Can Build John Iovine, McGraw-Hill, ISBN: 0070328048 The Personal Robot Navigator Merl K. Miller, Nelson B. Winkless, Kent Phelps, Joseph H. Bosworth, A K Peters Ltd., ISBN: 188819300X (contains CD-ROM of robot navigation simulator) 123 Robotics Experiments for the Evil Genius Myke Predko, McGraw-Hill, ISBN: 0071413596 (contains PCB for mounting a BS2/robot electronics) Applied Robotics Edwin Wise, Howard W Sams & Co, ISBN: 0790611848 Muscle Wires Project Book Roger G. Gilbertson, Mondo-Tronics, ISBN: 1879896141 Stiquito: Advanced Experiments with a Simple and Inexpensive Robot James M. Conrad, Jonathan W. Mills Institute of Electrical and Electronic Engineers, ISBN: 0818674083 Stiquito for Beginners: An Introduction to Robotics James M. Conrad, Jonathan W. Mills IEEE Computer Society Press, ISBN: 0818675144

Dave Baum s Definitive Guide to LEGO Mindstorms Dave Baum, Apress, ISBN: 1893115097 Unofficial Guide to LEGO MINDSTORMS Robots Jonathan B. Knudsen, O Reilly & Associates, ISBN: 1565926927

Fig. 8-1.

Figure 3-30 One method of coupling shafts makes use of gears that can replace chains, pulleys, and friction drives. Its major limitation is the need for adequate center distance. However, an idler can be used for close centers, as shown. This can be a plain pinion or an internal gear. Transmission is at a constant velocity and there is axial freedom.

Joe Nagata s Lego Mindstorms Idea Book No Starch Press, ISBN: 1886411409 LEGO Crazy Action Contraptions Dan Rathjen, Klutz, Inc., ISBN: 1570541574 Extreme Mindstorms: An Advanced Guide to LEGO Mindstorms Dave Baum et al., Apress, ISBN: 1893115097

Mobile Robots: Inspiration to Implementation Joseph L. Jones, Anita M. Flynn, Bruce A. Seiger, A K Peters Ltd., ISBN: 1568810970 Sensors for Mobile Robots: Theory and Application H. R. Everett, A K Peters Ltd., ISBN: 1568810482 Art Robotics: An Introduction to Engineering Fred Martin, Prentice Hall, ISBN: 0805343369 Robot Evolution: The Development of Anthrobotics Mark Rosheim, John Wiley & Sons, ISBN: 0471026220 Machines That Walk: The Adaptive Suspension Vehicle Shin-Min Song, MIT Press, ISBN: 0262192748 Robot DNA, Various Titles McGraw-Hill Remote Control Robotics Craig Sayers, Springer-Verlag, ISBN: 038798597 Artificial Vision for Mobile Robots: Stereo Vision and Multisensory Perception Nicholas Ayache, Peter T. Sander, MIT Press, ISBN: 0262011247

An Introduction to AI Robotics Robin Murphy, MIT Press, ISBN: 0262522632

Fig. 8-2.

Figure 3-31 This coupling consists of two universal joints and a short shaft. Velocity transmission is constant between the input and output shafts if the shafts remain parallel and if the end yokes are arranged symmetrically. The velocity of the central shaft fluctuates during rotation, but high speed and wide angles can cause vibration. The shaft offset can be varied, but axial freedom requires that one shaft be spline mounted.

Robot: Mere Machine to Transcendent Mind Hans Moravec, Oxford University Press, ISBN: 0195116305 Behavior-Based Robotics: Intelligent Robots and Autonomous Agents Ronald C. Arkin, MIT Press, ISBN: 0262011654 Artificial Intelligence and Mobile Robots: Case Studies of Successful Robot Systems David Kortenkamp, R. Peter Bonasso, Robin Murphy, MIT Press, ISBN: 0262611376 Cambrian Intelligence: The Early History of the New AI Rodney Allen Brooks, MIT Press, ISBN: 0262522632 Vehicles: Experiments in Synthetic Psychology Valentino Braitenberg, MIT Press, ISBN: 0262521121 Intelligent Behavior in Animals and Robots David McFarland, Thomas Bosser, MIT Press, ISBN: 0262132931

Five Hundred and Seven Mechanical Movements Henry Brown, Astragal Press, ISBN: 1879335638 Mechanical Devices for the Electronics Experimenter Britt Rorabaugh, Tab Books, ISBN: 0070535477 Mechanisms and Mechanical Devices Sourcebook, Second Edition Nicholas P. Chironis, Neil Sclater, McGraw-Hill, ISBN: 0070113564 Home Machinist s Handbook Doug Briney, Tab Books, ISBN: 0830615733

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