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225 + 398 / 0203 152 t 14 F 8 K It is assumed that for the most heavily loaded pad, the clearance decreases to 0001 in and for the minimum load, the clearance does not exceed 0004 in The calculation can be made in a similar manner with the exception of the stiffness because the design condition is no longer valid The relation is given as

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Ever since the advent of factories during the industrial revolution, specialized machines have had an important role in creating the products of civilization. The most common machine was the underpaid, overworked citizen men, women, and children. Early factory conditions were dangerous, but the wages were good and nobody could argue with the e ciency factories brought. Water and steam power, and later gas and electric power, replaced and enhanced human power, allowing us to make our products even faster and cheaper. Complex machines were created to take over many aspects of manufacture. The automatic loom is well known, but even today there are speci c machines for many tasks. You don t normally think about it, but there is a complex machine whose only purpose is to bend wire into paperclips. There is another machine, perhaps in the same factory, that makes nails. Other machines perform other tasks. These machines, invaluable as they are for industry, are still forms of automata.





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(a) Supply pressure (Po Pa) 4 3 d d* 2 1

Factory automata start to become robots when they gain the ability to be programmed But there is still a large gray area Take that nail-making machine and add a bunch of controls to it so it can make nails from di erent sizes of wires, with di erent types of points, and di erent types of heads Is it an automaton or a robot Does it make a di erence if the controls are mechanical levers and knobs or electronic circuits In the early factories, working alongside a machine made your job more dangerous even if it made it less arduous These early machines were large assemblies of spinning, whirring, moving parts that continued to spin, whir, and move even if a nger, foot, or other body part intruded into it Even today, people working with machines in factories and food-processing plants face special risks.

Feed hole diameter d (in 10 3)

50 04

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Machines are designed to be as safe as possible, but there are limits to what can be done to a metal sheer or punch press, for example, and have it remain useful As machines improved into robots, they made some aspects of factory work safer A robotic painter, spot welder, or assembly machine can operate in an empty space without any help at all A supervisor stands safely outside its range of motion while the robot does the dirty and dangerous work (Fig 1-1) The most visible type of factory robot is the robot arm (Fig 1-2) These can be given any type of specialized hand needed for their job (Fig 1-3) and programmed to perform complex activities One arm, with a set of di erent hands, can be programmed to perform any number of tasks.

0 40

These are the robots that we recognize as smart machines, beginning to realize the dream promised to us by Kepelen s Turk..

the 1 2 Diametrical clearance 2ha (in 10 3)

d 2 d* 1 0 0 10

Fig. 1-1.

(c) Length-to-diameter ratio L/D 4 3 d 2 d* 1 0 0 01 02 03 d = d* 1 4(I/L)

Fig 747: Jet diameter versus clearance for an annular orifice [3]

Welding robot (photo courtesy Motoman).

It can be further seen that it is impossible to design a bearing at Kg = 04 for the available machining capability Figure 746 (b) can be used to determine the number of jets per row d is the minimum possible hole diameter (0005 in), whereas d* (00032 in) is the value calculated previously for Kg = 04 The number of jets per row (ie 3) is read from the horizontal axis from the intersection of (d/d* =16) and the curve Figure 748 shows that the three jets are not sufficient as these are not included in the curves A better design would be to use either six or eight feed holes per row of either a 50 10 3 in or 60 10 3 in diameter with both alternatives providing a gauge pressure ratio of between 06 and 08, since the ratio of d/d* is equal or less than 1 at the corresponding Kg values

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