Page 19 - Concise Encyclopedia of Robotics

AGV
ACTUATOR
An actuator is a device that moves one or more joints and operates the
gripper or end effector in a robot arm. Simple actuators consist of electric
motors and gears, cable drives, or chain drives. More sophisticated actua-
tors involve the use of hydraulics, pneumatics, or magnetic interaction.
Stepper motors are commonly used as robotic actuators.
Some robot arms can function with a single actuator; others require
two or more. The number of actuators necessary to perform a given task
depends on the number of degrees of freedom, the number of degrees of
rotation, and the coordinate geometry of the robot arm.
See also CABLE DRIVE, CHAIN DRIVE, DEGREES OF FREEDOM, DEGREES OF ROTATION, END
EFFECTOR, MOTOR, ROBOT ARM, ROBOT GRIPPER, and STEPPER MOTOR.
ADAPTIVE SUSPENSION VEHICLE (ASV)
An adaptive suspension vehicle (ASV) is a specialized robot that uses
mechanical limbs to propel itself. It moves on several legs like a gigantic
insect. This provides excellent stability and maneuverability. The ASV can
carry several hundred kilograms, and moves at 2 to 4 m/s. The machine
itself masses 2 to 3 metric tons. It is the size of a small truck, and it can
carry a driver or rider.
The design and construction of a robot with legs is considerably more
difficult than that of a wheel-driven or track-driven robot, but there is a
payoff: the ASV can move over much rougher terrain than any vehicle
with wheels or a track drive.
See also INSECT ROBOT and ROBOT LEG.
ADHESION GRIPPER
An adhesion gripper is a robot end effector that grasps objects by literally
sticking to them. In its most primitive form, this type of gripper consists of
a rod, sphere, or other solid object covered with two-sided tape. Velcro™
can also be used if the object(s) to be grasped are likewise equipped.
A major asset of the adhesive gripper is the fact that it is simple. As
long as the adhesive keeps its “stickiness,” it will continue to function
without maintenance. However, there are certain limitations. The
most significant is the fact that the adhesive cannot readily be disabled
in order to release the grasp on an object. Some other means, such as
devices that lock the gripped object into place, must be used. Compare
ATTRACTION GRIPPER.

AGV
See AUTOMATED GUIDED VEHICLE.

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