Friday, September 21, 2007

Traction and steering mechanisms for a car type robot

Note: Here in this tutorial aspects like aerodynamics and vibration damping are not taken in account.

There are many kinds of techniques to move a robot from one place to other. But here I will discuss only some few techniques adequate for relatively smaller robots driven by dc motors.

1.Differential Drive system:
This is the simplest and the most common type of mechanism used in small robots.
It's easy to build, easy to control and can permit the robot to move in all required directions.
Two motors are connected, one to each of the two drive wheels at the right and at the left of the robot's base. Those two motors are responsible of driving the robot forward and reverse.

The turning of the robot relys on the velocity difference of the motors. Thats why it is called a 'differential'.
Figure on the right shows operation principle.
When the left and right motors are turning at the same speed, the robot moves forward or backward in a straight line.
In order to turn right, the right motor is slowed down and the robot steers to the right. The bigger the difference of speed between the two wheels, the tighter will be the steering curve.

2.Four wheel differential drive system

The drive trains of tanks and bulldozers is similar to this one.
It requires relatively powerful motors, because during turning there is a lot of friction.

Similar kind of a differential mechanism is used as above.

The advantage of this system is that it is very easy to build and is most suitable for running on low friction and dusty surfaces where other drive systems are not effective.

3.Car-type drive system:

I think that the image is clear enough to understand this mechanism.

4. Divided chassis drive train:

This system relies on 4 independent motors, each one coupled to one of the four wheels, allowing the robot to move forward or backward with the
accumulated power of four motors or to turn right and left with approximately equivalent power, but with m minimum frictional losses.

he chassis is divided into two parts, hinged together, allowing it to change it's shape to turn in tight curves.

Usually, the two front motors are used only to drag the robot, while
the two rear motors are used either to push it or to bend the chassis (like a toy train) to turn right or left by running one of the two motors faster than the other.



Anonymous said...

There is nothing wrong in adapting other's content but you must give credit to the original

Anonymous said...

Inquire Our Muted Prices at, The Ponderous [b][url=]Online Apothecary's [/url][/b] To [url=]Buy Viagra[/url] Online ! You Can also Foretell August Deals When You [url=]Buy Cialis[/url] and When You You [url=]Buy Levitra[/url] Online. We Also Clutch a Signal Generic [url=]Phentermine[/url] On account of Your Nutriment ! We Hawk Marque apogee wine [url=]Viagra[/url] and Also [url=]Generic Viagra[/url] !

Anonymous said...

You could easily be making money online in the undercover world of [URL=]blackhat forums[/URL], You are far from alone if you have no clue about blackhat marketing. Blackhat marketing uses alternative or misunderstood avenues to build an income online.

Anonymous said...

After getting more than 10000 visitors/day to my website I thought your website also need unstoppable flow of traffic...

Use this BRAND NEW software and get all the traffic for your website you will ever need ...

= = > >

In testing phase it generated 867,981 visitors and $540,340.

Then another $86,299.13 in 90 days to be exact. That's $958.88 a

And all it took was 10 minutes to set up and run.

But how does it work??

You just configure the system, click the mouse button a few
times, activate the software, copy and paste a few links and
you're done!!

Click the link BELOW as you're about to witness a software that
could be a MAJOR turning point to your success.

= = > >

Anonymous said...

ebook the adventures of huckleberry finn textbook vs ebook [url=]ebook sales by device[/url] download ebook of quotes

Anonymous said...

online retail pharmacy herbal pharmacy torrent [url=]canadian pharmacy holanda[/url]
mount carmel pharmacy british dragon online pharmacy [url=]ed discount pack 3[/url]
vermont board of pharmacy pharmacy techn ok [url=]online pharmacys and florida doctor[/url]
american website solutions pharmacy eckerd pharmacy belmar new jersey [url=]trimox[/url]

Anonymous said...

netherlands pharmacy for sale university of southern nevada pharmacy [url=]pharmacy schools oh[/url]
pharmacy reference materials ips mail order pharmacy [url=]actos[/url]
legit steroid pharmacy national pharmacy service [url=]pharmacy techincian[/url]
wal mart pharmacy online pharmacy weight set [url=]zofran[/url]

Anonymous said...

pharmacy technicians license in colorado schraft pharmacy [url=]post subject pharmacy bottle list update day[/url]
medicine shoppe pharmacy franchises first pharmacy school [url=]altace[/url]
inventory management pharmacy hipaa and pharmacy [url=]no prescription online pharmacy[/url]
pharmacy jobs long term care kansas city primemail pharmacy [url=]cefixime[/url]

Anonymous said...

horgans pharmacy compund pharmacy [url=]pharmacy in springfield ohio[/url]
geduld pharmacy nelson pharmacy pawnee illinois [url=]eurax[/url]
cvs pharmacy prices cvs pharmacy commercial song [url=]canada canadian drug pharmacy[/url]
oxycotin pharmacy pharmacy benefit purchasing alliance in puerto rico [url=]atarax[/url]

Anonymous said...

research on teen dating [url=]running time for bride wars[/url] dating diana 2
bible black dating sim who is dating kenny walod
michigan online dating service [url=]comcast dating[/url] the dating persona test

Anonymous said...

Technivorm Kbt741: Will do Understatement The same Underperformance?
Replacing with that window coverings in your own will give your private home this
fresh look without difficulty dinner time stay home a small number of cash.
That have an repugnant body-shape, time consuming working days had to perhaps
concept the earth caffeinated drinks, alongside over the top
program too, ahead of time coffee percolators have already been quite expensive, repulsive, and not necessarily
fantastic valuable. Here, locate follow on the way to obtain
the most the best capuccino when you use until this designer which has been examined down further.
I would say the percolator is a very popularly
accepted coffee maker to everyone.

Take a look at my blog post; Coffee maker reviews