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loads Thrust bearings are generally available for a variety of sizes, but the capability is limited only to thrust loads In addition, there are also several other less common types of ball bearings such as magneto bearings, miniature ball bearings and duplex bearings [6] Shields may also be used in certain applications to avoid particles, dirt or contaminations from entering the raceways and causing damage by erosion Sealed bearings are lubricated with grease and are intended to be lubricated life long [4] Similar to ball bearings, roller bearings have different arrangements for different applications and requirements as shown in Figure 67 Cylindrical or straight roller bearings provide support for purely radial loads with a certain freedom of axial movement This type of roller bearing is suitable for moderate to high radial load and high-speed operations Although commonly known as straight or cylindrical rollers, they are usually made slightly barrel shaped to reduce stress concentration [6] Spherical roller bearings are generally employed in heavy-duty machines because they are capable



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In this chapter we looked at many ways to make yourself stronger. The simple machines let you turn a long, easy push or pull into a short, yet powerful, force that can lift or move an object. All of the simple machines are based on this principle of mechanical advantage. The simplest machine is just a hill, or inclined plane. A portable inclined plane is a wedge. A spinning wedge is a screw. A di erent approach to mechanical advantage is given by the lever and by pulleys. Wheels, we learned, are like rotating levers and have their own force, torque, assigned to them. Gears and sprockets are toothed wheels that can be combined in large numbers to give a lot of mechanical advantage in a small space.

Fig 65: Forms of rolling elements [5]





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1. If you wanted to study the forces acting on your robot when it is standing still, what would you study How about when it is in motion 2. What force is involved when you cut a sheet of paper with scissors When you crush a grape When you break a string 3. Remember that robot trying to climb a 10 degree hill As it is being pushed up the hill, how hard is gravity pulling against the push 4. What kind of lever is your knee a fulcrum of Your ankle 5. You have a gear with twenty- ve teeth, each of which takes 1/8 of an inch (eight teeth per inch). How big is your gear If you mesh it with a gear that has a 4.97 inch diameter, what is the mechanical advantage

Fig 66: Various types of ball bearings [4]

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of supporting radial and axial loads especially in the case of a thrust arrangement [1] They are also able to take a certain amount of misalignment but are more difficult to lubricate and operate at low speeds Tapered rollers that are shaped as truncated cones are able to carry heavy loads in both the axial and radial directions if properly aligned However, as in spherical rollers, tapered rollers are not suitable for high speed applications

The study of electricity and electronics is the study of the electron and proton, the elds surrounding them, and how we a ect their behavior. The electron and proton are both charged particles, since they carry an electric charge. The electron is the key player in most electronics studies, since in metals it is the electron that moves around. A charged particle at rest has an electrical eld around it, radiating into space. A charged particle in motion generates a magnetic eld. These elds are normally studied together as the electromagnetic eld, since they are parts of the same thing. Electronics are the nervous system of the robot, replacing the mechanical gears and cams of the automata with wire and whizzing electrons. This chapter introduces you to the electrical and magnetic forces that are used in electronics. We ll try to keep it short and painless.

(f )

Fig 67: Types of roller bearings: (a) straight roller, (b) spherical roller, thrust, (c) tapered roller, thrust, (d) needle,

Everything is composed of atoms, which are little specks of matter Atoms are themselves composed of a heavy core of neutrons and protons surrounded by a whirling cloud of lightweight electrons And that is all a lie In the early days, mankind looked around and saw that the world was made up of hundreds, thousands!, of things Rock and sand and water and mildew and hair and skin and bugs and teeth and metal and wood and bark and leaves and re so many things! And of course, we gave everything names and thought up stories as to why these things were here and what they were for At some point, philosophers and magicians and alchemists got to thinking about these things.

(e) tapered roller and (f) steep-angle tapered roller [4]

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