Unfortunately, soon after these first attempts, the designer will find the robot getting stuck on what seem to be innocuous objects or bumps, held captive under a chair or fallen tree trunk, incapable of doing any- thing useful, or with a manipulator that crushes every beer can it tries to pick up. Knowledge of the mechanics of sensors, manipulators, and the concept of mobility will help reduce these problems. This book provides that knowledge with the aid of hundreds of sketches showing drive lay- outs and manipulator geometries and their work envelope. It discusses what mobility really is and how to increase it without increasing the size of the.
