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Robot Builder's Bonanza, 4th Edition, 4th Edition by Gordon McComb

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Chapter 20Moving Your Robot

By definition, all mobile robots move. To propel themselves across the floor, a robot might use wheels, or perhaps tracks, maybe even legs. Moving your robot is called locomotion, and how these wheels, tracks, and legs are arranged is called the drive geometry. There are many variations of drive geometries, some relatively easy to achieve, and others not.

Selecting the right locomotion system and drive geometry involves figuring out what you want your robot to do. But it also takes assessing the mechanical requirements of constructing the drive mechanism. It’s easy to “bite off more than you can chew,” and design a robot propulsion system that is not practical for you to build. A good example is robots with legs. These ...

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