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air filters that incorporate some means of vortex generation to centrifuge out the liquid droplets can remove liquid impurities Oil vapour in the compressed air supply presents difficulties because of its tendency to condense into a wax-like deposit within the bearing clearances The only effective way of preventing the oil vapour reaching the bearing is the use of an activated charcoal filter element Using industrial alcohol can do cleaning the deposit The air supply must also be properly regulated using a pressure reducing valve to prevent fluctuations There must also be a provision for air supply failures as a touch down can be disastrous A pressure-sensitive electrical switch can be wired into the machine overload relay circuit to cut off the electrical power to the machine if the pressure falls below a pre-set level [3] The complete external system arrangement is shown in Figure 715 Accumulators in the form of cylinders are used in all ultra-precision machine tools



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Bypass line/ shutoff valve Pressure gauge Air tank Shutoff valve Regulator Coalescing filter (Oil Removal Filter) Condenser filter (Separates oil/water from discharged water)

Your computer s connection to the Internet, or to your own home network, is probably made using the Ethernet networking technology and the TCP/IP (Transport Control Protocol/Internet Protocol) communications protocols. You can buy inexpensive microcontrollers that implement these systems. Using Internet communications provides a way for your robot to communicate over existing computer networks. And yes, you should probably check out Jan Axelson s Embedded Ethernet and Internet (Lakeview Research, 2003).

X Flexible pipe (Hose-delivered with the machine)

Once you have designed your robot using one of these communications techniques, you can buy a radio communications box to remove the wires between the robot and the operator.

Fig 715: The line diagram of a compressed air installation [12]





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Preloading is a method of increasing the bearing stiffness When air bearings are loaded, the air gap gets smaller, and the pressure in the air film rises Because air is a compressible fluid, it has a spring rate or stiffness Higher pressures are essentially a preload on that air spring If the air gap is considered to be a column with a uniform spring rate, it is evident that the shorter the column, the higher will be its stiffness The factors that determine stiffness in air bearings are the pressure in the air gap, the thickness of the air gap, and the projected surface area of the bearing This wide air gap is also an important function in squeeze film damping, which can be very advantageous in precision systems Air bearings can be preloaded using weights, magnets, or vacuum, or by mounting two air bearings on opposite sides of a guide rail

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There have been radio modems on the market for many years, and before them the ham radio operators had packet radio. These days wireless networks are big news, with 802.11 b wireless Ethernet hubs and transceivers and their relatives. Using these inexpensive networks can give you an easy way to operate your robot remotely. There are problems with most wireless systems, however. If you have ever carried a laptop around a wireless access point, such as a co ee shop or your living room, you may notice that the signal strength varies from one place to another. There will be dead spots where the network doesn t work at all. If you are relying on your wireless connection to drive your robot, what do you do when the connection is broken This is where semi-autonomous robots are useful again, because they are able to function without explicit control. Once the robot relocates a wireless signal, it can take on new instructions. When it is in a dead spot it can operate on its own. Radio waves are not the only wireless communications technology. You can also talk to your robot using light, though this will only work if the robot can see the light. Television remote controls use infrared (IR) light to send commands. The Mindstorms base station uses IR to program the robot controller. The RCX Send IR Message can send messages to another controller, while the IR Message sensor receives messages.

Unlike contact roller bearings, air bearings utilize a thin film of pressurized air to provide a zero friction load bearing interface between surfaces that would otherwise be in contact with each other Being of a non-contact nature, air bearings do not have the traditional bearing-related problems of friction, wear, and lubricant handling and offer distinct advantages in precision positioning and high-speed applications This type of bearing shares many of the advantages of aerodynamic bearings In addition, it supports its entire designed load at zero speed

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