TAILIEUCHUNG - LEGO MINDSTORMS - Building Robots part 5

Tham khảo tài liệu 'lego mindstorms - building robots part 5', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 128 Chapter 8 Becoming Mobile Introduction Most robots are designed with some kind of mobility in mind. Motion makes your creatures animated and alive and offers a limitless number of interesting fun and challenging projects with which to test your creativity and skills. Most mobile robots belong to one of two categories wheeled robots or legged robots. Though legs provide an effective way to move on rough terrains wheels are generally much more efficient on smooth surfaces. In this chapter we will survey the most common wheeled mobility configurations discussing some of their pros and cons. Please bear in mind that the chassis shown in the following examples are designed to highlight the details of gearings and connections and for this reason many of them need some reinforcement to be used in actual robots. Building a Simple Differential Drive If you have built some of the robots described in the LEGO Constructopedia or put together the test platform outlined in Chapter 5 you re already familiar with the differential drive architecture. It has so many advantages particularly in its simplicity that it s by far the most often used configuration for LEGO mobile robots. A differential drive is made of two parallel drive wheels on either side of the robot powered separately with one or more casters pivoting wheels which help support the weight but that have no active role Figure . Note that it is called a differential drive because the robot motion vector results from two independent components it s of no relation to the differential gear which isn t used in this configuration . When both the drive wheels turn in the same direction at the same speed the robot goes straight. If the wheels rotate at the same speed but in opposite directions the robot turns in place pivoting around the midpoint of the line that connects the drive shows the behavior of a differential drive robot according to the direction of its wheels assuming that when it s in motion

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