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F 2430 = 087 = N 2790 t = tan 1 m = tan 1 (087) = 41 2

top of the program. Without the variable, you would have to nd each instance of the power value 5 and change them all. Note the dotted lines around the rst four program blocks. These blocks are all part of a single conceptual action, initialize variables. We could collect these into a subroutine called Initialize and make the owchart smaller without losing much of its meaning.



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047 ( 0906 ) = tan 1 1 047 ( 0423 ) = tan 1 (0532) = 28 1 Machinability coefficient, C = 2 jn + t g = 2(28 1 ) + 41 2 25 = 72 4 This indicates that the machining conditions follow Merchant s theory

Fig. 13-6.

Stress and Strain Chip cross section area, As = Shear force,

Fs = R cos (j + t g )

BumperCar program 1 (part 2).

2 2 = 3550 + 1030 cos (28 1 + 41 2 25 ) = 36964 cos (44 3 ) = 26567 N Fn = R sin (j + t g )

Normal shear,





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Once the variables are set we drop into a Repeat loop. The rst action in this loop is to set the robot to move forward at high power. Next, we make decisions based on input from the outside world (Fig. 13-6). The rst checks if switch 1 has been pressed. If it has, then it stops the

35502 + 10302 sin (30 + 42 2 25 )

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robot and beeps. After a brief pause it backs up in a curve. If button 1 was not pushed, then we check button 3. If that button is pushed we repeat the stopand-backup sequence of actions, but along a di erent curve. This test-insidea-loop logic is known as polling. The program looks at the switches whenever it can, during the normal course of the program. Note the two sets of processes surround by dotted lines. These both contain exactly the same sequence of steps. Repeated code like this is a good candidate to be replaced by subroutine. If you decide to change the behavior of the timed stop, you can edit the code in one place, the subroutine, and the e ect will be seen everywhere it is used. Once the decision-making and backing-up code is processed, we return to the top of the loop, repeating forever. A compressed, easily readable version of this program is given in Fig. 13-7. Packaging-related blocks of code makes the program more readable, and it helps you to reuse common blocks of code. A side e ect is that you can t see all of the low-level program details without opening up the subroutines.

The mechanics of oblique machining have been dealt with in detail in Armargo and Brown s book [9] Kronenberg and Stabler have analysed the effect of the mechanics of oblique machining and application of force measurement, which follows Cartesian geometry They have developed the equation to obtain the true side rake and back side rake angle that defer from the actual angle used during cutting The equation and a detailed analysis using actual experimental data are next shown True Back Rake Angle, l*t : Kronenberg s Equation lt = i = tan 1[tan l cos k sin k tan g ] where l is the back rake angle, g, the side rake angle and k is the SCE (approach) angle True Side Rake Angle, l*t : Kronenberg s Equation gt = av = tan 1[cos k tan l + sin k tan g ] Normal Side Rake Angle, an an = tan 1[tan av cos i ] Friction Force F = {[(FP cos i + FR sin i ) sin an + FQ cos an]2 + (FP sin i FR cos i)2}1/2 where FP* is the main cutting force, FC, FQ*, the tangential (feed) force, Ft , FR is the radial cutting force which is = zero if the cutting is orthogonal Normal Force N = [FP cos i + FR sin i ] cos an + FQ sin an Coefficient of Friction, m F m= = tan t N Chip Ratio, rc rc =

Note: If the machining operation involves turning, the undeformed chip thickness = feed Shear Angle, fn:

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