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move forward for one second. Then you have the command to turn left for a second, and nally another second of forward motion. If you have used the LEGO Mindstorms at all, you will recognize this as a primitive program. You can even build the Roverbot in the Mindstorm instructions and run this program on it. Thinking back to the beginnings of this chapter, this program could be created by two cams on a slowly moving shaft. The rst cam would be the forward cam, and would have a bump that would press a switch that makes the robot move forward by supplying power to both of its motors. The size of these bumps, for there would be two of them, would be large enough so the switch was pressed for exactly one second. The second cam would be the turn left cam. Its switch could make the robot turn left by supplying power to only the right-hand motor. How would this two-cam system look How would you wire the switches to power the motors to make it match the behavior of this program



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a = Pa ho where is the viscosity of the gas, Pa the ambient pressure, a the radius of the shaft and ho is the radial clearance The load capacity of the aerodynamic journal bearing increases with increasing compressibility numbers as in Figure 770 The load capacity also depends on the length-to-diameter ratio of the bearing Long bearings are more efficient for load carrying than short bearings Hybrid bearings also have the advantage in the case of internal supply pressure failure Most hybrid bearings are capable of working on a pure hydrodynamic film For a thrust bearing, a Rayleigh step may be incorporated at the leading edge of each pad to combine the hydrodynamic capacity with an adequate land area for the action of hydrostatic pressure [35] This arrangement can be seen in Figure 771





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When comparing among bearing systems, the first point that comes to mind is the difference between aerostatic and hydrostatic systems This will be first dealt with in this section, and the comparison will later be extended to all available bearing systems The theory of gas bearings is more complicated than that of liquid bearings because of the effects arising from the compressibility of fluids that lead to complicated relations between the pressure and the flow of compressible fluids [36] When comparing gas and liquid hydrostatic bearings, a few differences will be quite obvious The size proportions and materials of a typical gas bearing are generally all quite different from those of a typical liquid bearing for similar functions For gas bearings, a consideration of the instabilities must always be included in the design However, friction power is usually neglected for gas bearings, and the opposite is true for hydrostatic bearings The fundamental differences between oil and air are that oil can be assumed as being incompressible, and the viscosity of oil is between 100 and 1000 times greater than the viscosity of air This allows for higher supply pressures without excessive flow rates and pumping power A higher supply pressure simply means a greater load capacity and stiffness Hydrostatic bearings Fig 768: A grinding spindle assembly are superior in terms of their load capacity, whereas aerostatic bearings excel in terms of friction This can be proven by assuming equal pumping power, size, shape and clearance for hydrostatic and aerostatic bearings For simplicity, the compressibility of air is also ignored [3]

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Summary

Journal bearing x2 Slot for shaft ISO40 Thrust bearing 1 Detail drawing D1 (thrust bearing x2) Details drawing D2 (Journal bearing x2) Thermal barrier

We started by looking at how limit switches can be used to a ect the behavior of a mechanical system. In the process, we learned about di erent kinds

( Po Pa )2

for the same speed It is possible to produce aerostatic and hydrostatic bearings for the same load capacity by varying the diameter of the bearings [3] This is possible as

of switches. By moving the switches away from the machine and then controlling them using a set of rotating cams, we saw how we might control behavior in more complex ways. Of course, rebuilding parts of your machine to change the programming is cumbersome, so we looked at di erent ways to represent our sequences of on and o . This led us to punched cards and tape. From there we looked at how patterns of on and o can represent numbers, and how these numbers can be used to represent other things, such as instructions to a computer. And what are instructions to a computer if not a program So programs are numbers, which are simply patterns of zero and one. And what are zero and one if not the open and closed position of switches And we are back to the beginning again.

compressibility number [3]

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