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own motor. This design cannot turn in place, but careful layout can produce a vehicle that can turn in little more than twice its width. Greater mobility is achieved if the center joint also allows a rolling motion between the two sections. This degree of freedom keeps all four wheels on the ground while traversing uneven terrain or obstacles. It also improves traction while turning on bumps. Highest mobility for this layout would come from powering both the pivot and roll joints with their own motors and each wheel individually powered for a total of six motors. Alternatively, the wheels could be powered through limited slip differentials and the roll axis left passive for less mobility, but only three motors. Figures 4-18 and 4-19 show these two closely related layouts. An unusual and unintuitive layout is the five-wheeled drivetrain. This is basically the tricycle layout, but with an extra pair of wheels in the back to increase traction and ground contact area. The front wheel is not normally powered and is only for steering. Figure 4-20 shows this is a fairly simple layout relative to its mobility, especially if the side wheel pairs are driven together through a simple chain or belt drive. Although the front wheels must be pushed over obstacles, there is ample traction from all that rubber on the four rear wheels.

In the winter of 2000, R&B Group, a graphic image and photography company that offers state-of-the-art imaging and printing services, undertook the project of converting its cumbersome data storage system into a heterogeneous SAN. The SAN, which provides a high-speed data storage network for the entire organization, was created to enhance R&B Group s connectivity, provide dual multipathing redundancy, and, most impor-

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biggest cash cow. And since he wasn t in the room, he never had a chance to consider a strategy that today looks pretty good, when you consider the industry trend toward desktop machines. The most successful companies are quite good at attacking their cash cows. Gillette is a prime example. First it slaughtered its single-edge and stainless blades with the highly successful twin-bladed razor (Trac II). Then it attacked that idea with an adjustable twinbladed razor (Atra). Then came the shock-absorbing razor (Sensor). Then the company came up with a sensor with fins. It s called Sensor Excel. Then it was on to the multiblade razors, Mach 3 (three blades) and Fusion (five blades). If Gillette comes up with a better idea, it will reposition its older blades as being obsolete. At Gillette, there is no such concept as getting ahead of oneself, concludes Booz & Company, the global consulting firm. New products go on the drawing board as much as a decade before they are introduced. * Now consider the less than successful companies. Xerox invented laser printing but never exploited it. Kodak invented digital photography, but it never got out of the laboratories. Watching the decline of film, you know why.

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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.

Beyond four- and five-wheeled vehicles is the large class of six-wheeled layouts. There are many layouts, suspensions, and drivetrains based on six wheels. Six wheels are generally the best compromise for highmobility wheeled vehicles. Six wheels put enough ground pressure, traction, steering mobility, and obstacle-negotiating ability on a vehicle without, in most cases, very much complexity. Let s take a look at the more practical variations of six-wheeled layouts. The most basic six-wheeled vehicle, shown in Figure 4-21, is the skidsteered non-suspended design. This is very much like the four-wheeled design with improved mobility simply because there is more traction and less ground pressure because of the third wheel on each side. The wheels can be driven with chains, belts, or bevel gearboxes in a simple way, making for a robust system. An advantage of the third wheel in the skid-steer layout is that the middle wheel on each side can be mounted slightly lower than the other two, reducing the weight the front and rear wheel pairs carry. The lower weight reduces the forces needed to skid them around when turning, reducing turning power. The offset center axle can make the vehicle wobble a bit. Careful planning of the location of the center of gravity is required to minimize this problem. Figure 4-22 shows the basic concept.

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