Chapter 2 talks alot about gears. It says how to count teeth to get a gear ratio that you can use to convert speed to power. Gears are used by having little teeth around it that fit in another gears groove to make a spinning movement. The torque and velocity are different things one is the power the other is the velocity of the robot. to get speed you need a gear with many teeth that drives a gear with less teeth to get the torque you need, the opposite with one gear with less teeth and the other gear with many teeth. Changing the gears teeth creates a different ratio that changes the speed of the robot.
A warm gear is a usefull gear because it can only move in one direction so if you are trying to lift a arm then the arm wont fall down. Another wheel is the bevel gear that is used to change direction with between perpendicular axis.The last wheel is the know wheel. That wheel is actually not a wheel it is a four pieces gear that one part that pushes the other parts
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