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f (Z + f ) (41) R The equation contains a minor correction relative to Blake s result If the depth of the machining damage, Yc, at a critical depth, d = dc, were zero, that is, Yc = 0, then the measurement of Z = Zc would give a value of dc via equation 39 However, practically Yc is not zero, and also from productivity reasons, it is not desirable that it is zero Yc is proportionally dependent on the feed An increase in the feed causes an increase in the depth of damage and vice versa To continue with this fact, the geometry shown in Figure 342 is used As there is a nonzero Yc value, Z is shifted Zeff is now the measured value of the position for the onset of damage (ductile to brittle transaction) on the shoulder In the above Fig 342: The geometry used to derive values of @ figure, the chip has been moved from a shoulder distance h to allow an overlap of the damage from successive tool pass Zc is the value of Z corresponding to d = dc Zeff is the measured distance on the shoulder of the interrupted cut It can be seen that Zeff = Zc Z Figure 343 shows the enlarged key geometry From figure 343, Z = h Yc sin w h (42) Because both Yc and sin w are small relative to h, to evaluate h, distance p is added to Yc such that it forms a right angled triangle as shown in the figure, and the length of this new side can be expressed:



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Fig 343: Triangle used to calculate ;

Table 15-2

(43)

(Fig. 15-2), you can communicate using just three of them, GND, RX, and TX (Table 15-2). The serial port is also bidirectional, in that it sends and receives data equally well. Since serial ports are ubiquitous, almost all microcontrollers can communicate using the serial protocol. You can also buy sensors that send their information using serial communication. This discussion of serial communication centers on the port found on most PCs, the RS232 serial port using a DB9 connector. There are actually two layers involved in using a serial port. There is the physical connection which involves the connector and the voltages applied to it, and there is the way these voltages are organized to transmit information.





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is related to h using the data in figure 10 and by using the following equation: sin f = = so From the triangle p =

h 2Z c h + 2 RYc = 0 Using the quadratic formula,

The RS232 electrical structure can communicate over wires of at most 50 feet long. A di erent electrical system, RS485, can be used to send these serial signals over wires nearly a mile long. RS485 is an especially useful data carrier inside robots, since robots are electrically very noisy and the RS485 system is especially resistant to this noise. There are also other specialized serial communications protocols. Your car probably uses the CAN serial interface, and in some systems the integrated circuits communicate using I2C. There are other serial protocols, many others in fact, but they all send and receive data one bit at a time. More information can be found in Jan Axelson s Serial Port Complete (Independent Publishers Group, 1998), as well as Edwin Wise s Applied Robotics (Delmar Learning, 1999) and Applied Robotics II (Prompt, 2002).

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h = Z c Z c 2 2 RYc The physically correct root corresponds to the minus sign so that h = Z c Z c 2 2 RYc We then have from equation 42 Zeff = Z c Z = Z c h = Z c 2 2 RYc

Fig 714: Powell s classification of aerostatic bearings [3]

The Universal Serial Bus, or USB, is a newer communications protocol that is beginning to edge out both the parallel and serial ports. It is more complicated than the serial port, but it supports all manner of peripherals, from computer mice to printers. As time marches by, more microcontrollers are supporting USB so we should be seeing it in more robots in the future. Needless to say, Jan Axelson has a book on the subject, USB Complete (Lakeview Research, 2nd ed., 2001).

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