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Face gears have straight tooth surfaces, but their axes lie in planes perpendicular to shaft axes. They are designed to mate with instantaneous point contact. These gears are used in right-angle drives, but they have low load capacities. Designing a properly sized gearbox is not a simple task and tables or manufacturer s recommendations are usually the best place to look for help. The amount of power a gearbox can transmit is affected by gear size, tooth size, rpm of the faster shaft, lubrication method, available cooling method (everything from nothing at all to forced air), gear materials, bearing types, etc. All these variables must be taken into account to come up with an effectively sized gearbox. Don t be daunted by this. In most cases the gearbox is not designed at all, but easily selected from a large assortment of off-the-shelf gearboxes made by one of many manufacturers. Let s now turn our attention to more complicated gearboxes that do more than just exchange speed for torque.

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recorded by the inertial guidance system in the plane (there are three gyros, for all three axes) At any time during the flight the course of the plane can be scrutinized by looking at the output of the gyroscopes Inertial guidance systems for planes, ships, missiles, and other such devices are far, far too expensive for robots However, there are some low-cost gyros that provide modest accuracies One reasonably affordable model is the Max Products MX-9100 micro piezo gyro, often used in model helicopters The MX-9100 uses a piezoelectric transducer to sense motion This motion is converted into a digital signal whose duty cycle changes in proportion to the rate of change in the gyro Laser- and fiber-optic-based gyroscopes offer another navigational possibility, though the price for ready-made systems is still out of the reach of most hobby robot enthusiasts.

Fig. 5-23.

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These devices use interferometry the subtle changes in the measured wavelength of a light source that travels in opposite directions around the circumference of the gyroscope The light is recombined onto a photosensor or a photocell array such as a CCD camera In the traditional laser-based gyroscopes (eg, the Honeywell ring gyro), the two light beams create a bull s-eye pattern that is analyzed by a computer In simpler fiber-optic systems, the light beams are mixed and received by a single phototransistor The wave patterns of the laser light produce sum and difference signals (heterodyning) The difference signals are well within audio frequency ranges, and these can be interpreted using a simple frequency-tovoltage converter From there, relative motion can be calculated A low-cost method to experiment with inertial navigation is to use accelerometers (similar to those described in detail in 35, Experimenting with Tilt and Gravity Sensors ).

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The nature of accelerometers, particularly the less-expensive piezoelectric variety, can make them difficult to employ in an inertial system Accelerometers are sensitive to the earth s gravity, and tilting on the part of the robot can introduce errors By using multiple accelerometers one to measure movement of the robot and one to determine tilt it is generally possible to reduce (but perhaps not eliminate) these errors..

Worm gear drives get their name from the unusual input gear which looks vaguely like a worm wrapped around a shaft. They are used primarily for high reduction ratios, from 5:1 to 100s:1. Their main disadvantage is inefficiency caused by the worm gear s sliding contact with the worm wheel. In larger reduction ratios, they can be self locking, meaning when the input power is turned off, the output cannot be rotated. The following section discusses an unusual double enveloping, internally-lubricated worm gear layout that is an attempt to increase efficiency and the life of the gearbox.

Maps help us navigate strange towns and roads. By correlating what we see out the windshield with the street names on the map, we can readily determine where we are or just how lost we are! Likewise, given a map of its environment, a robot could use its various sensors to correlate its position with the information in a map. Map-based positioning, also known as map matching, uses a map you prepare for the robot or that the robot prepares for itself. During navigation, the robot uses whatever sensors it has at its disposal (infrared, ultrasonic, vision, etc.) to visualize its environment. It checks the results of its sensors against the map previously stored in its memory. From there, it can compute its actual position and orientation. One common technique, developed by robot pioneer Hans Moravec, uses a certainty grid that consists of squares drawn inside the mapped environment (think of graph paper used in school). Objects, including obstacles, are placed within the squares. The robot can use this grid map to determine its location by attempting to match what it sees through its sensors with the patterns on the map. Obviously, map matching requires that a map of the robot s environment be created first. Several consumer robots, like the Cyebot, are designed to do this mapping autonomously

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