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Theoretically the best wrist joint geometry is a ball joint, but even in the biological world, there is only one example of a true full motion ball joint (one that allows motion in two planes, and twists 360 ) because they are so difficult to power and control The human hip joint is a limited motion ball joint On a mobile robot, the chassis can often substitute for one or two of the degrees of freedom, usually fore/aft and sometimes to yaw the arm left/right, reducing the complexity of the manipulator significantly Some special purpose manipulators do not need the ability to orient the gripper in all three axes, further reducing the DOF At the other extreme, there are arms in the conceptual stage that have more than fifteen DOF.

Four core switches 192 ports A total switch count of 20 A 3:1 ISL oversubscription rating Figure 2-7 illustrates the 16/4/192 architecture.

* David Ogilvy, Fiftieth Anniversary Luncheon Speech, Advertising Research Foundation, New York City, March 18, 1986.

To be thorough, this chapter will include the geometries of all the basic three DOF manipulator arms, in addition to the simpler two DOF arms specifically for use on robots Wrists are shown separately It is left to you to pick and match an effective combination of wrist and arm geometries to solve your specific manipulation problem First, let s look at an unusual manipulator and a simple mechanism perhaps the simplest mechanism for creating linear motion from rotary motion..

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An unusual chain-like device can be used as a manipulator. It is based on a flexible cable bundle carrier called E-Chain and has unique properties. The chain can be bent in only one plane, and to only one side. This allows it to cantilever out flat creating a long arm, but stored rolled up like a tape measure. It can be used as a one-DOF extension arm to reach into small confined spaces like pipes and tubes. Figure 10-1 shows a simplified line drawing of E-chain s allowable motion.

What David Ogilvy was getting at was that what you need to build into a brand is a positive. The purpose of all that hanging a negative on your competitor is to set up that positive idea. Some years ago, Stolichnaya vodka hung American made on its U.S. competitors who were making believe they were Russian. It was setting up the Russian vodka as its positive idea. Many years ago, BMW introduced its automobile into the U.S. market by repositioning Mercedes as the ultimate sitting machine. This was a set up for its longterm position of being the ultimate driving machine. Repositioning Mercedes as a living room on wheels did indeed resonate with people, as at the time Mercedes was indeed manufacturing big limo-type cars. The first BMW was the 3 Series, which was a long way from today s 7 Series, which is also a sitting machine. It s also the main reason that I m not a fan of these big gadget-loaded BMWs. They are not driving machines; they are high-tech sitting machines. It s why you don t see many of them driving around.

The slider-crank (Figure 10-2) is usually used to get rotary motion from linear motion, as in an internal combustion engine, but it is also an efficient way to get linear motion from the rotary motion of a motor/gearbox. A connecting rod length to / crank radius ratio of four to one produces nearly linear motion of the slider over most of its stroke and is, therefore, the most useful ratio. Several other methods exist for creating

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linear motion from rotary, but the slider crank is particularly effective for use in walking robots. The motion of the slider is not linear in velocity over its full range of motion. Near the ends of its stroke the slider slows down, but the force produced by the crank goes up. This effect can be put to good use as a clamp. It can also be used to move the legs of walkers. The slider crank should be considered if linear motion is needed in a design.

Two core switches 224 ports A total switch count of 18 A 7:1 ISL oversubscription rating Figure 2-8 illustrates the 16/2/224 architecture.