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Fig 518: An open rectangular or T-shaped configuration [9, 10]

In this chapter, we introduced a bunch of mechanical forces, their meaning, and symbols to represent them. We learned how to describe something s position in space and its distance from another object. We learned about the energy in moving objects as well as the force and energy needed to change an object s motion, not to mention the di erence between force and energy. Finally, we took a look at storing energy in springs and how energy is lost through friction.



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type guideway combinations, and Figure 521 shows an example of a guideway employing rolling elements to reduce friction In addition, Figure 522 illustrates a precision lathe with a guideway containing foundry sand for enhanced stability

In ultra-precision machines, the slideways utilize a fully constrained and preloaded hydrostatic oil bearing design to provide a high degree of stiffness, vibration, damping, smoothness of motion and geometrical accuracy For the Precitech ultra-precision machine discussed earlier, the slideways are capable of a slide position feedback resolution of 86 nm, which is provided by an ultra-fine pitch low expansion glass scale The slide has a horizontal straightness of between 02 m and 03 m This extreme accuracy is only achievable through the use of hydrostatic oil bearings The guideways employed in these machines are either box shaped or dovetail shaped as shown in Figure 523 and 524, respectively





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1. If a ball dropped on planet Earth takes a half second to hit the ground, how high was it dropped from

Fig 523: A hydrostatic box type guideway for an ultraprecision machine [4]

hydrostatic dovetail guideway [4]

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Bonus: If you drop a ball from 3 meters (about 9 feet) above ground, how long does it take to hit What does it look like if you graph the results of these tests One graph would show how far the ball falls for a range of times. Another graph would show how long the ball takes to fall a given distance. 2. Take a half-kilogram ball (about a pound) and throw it at 10 meters per second at a wall (NOT someone s head). Assume the wall takes 1/10 of a second to stop the ball. What is the force applied to the ball over that tenth of a second What if the wall was really soft and took 1/4 second to stop the ball 3. What is the kinetic energy of this half-kilogram ball moving at 10 meters per second What if it were moving at 20 meters per second Try graphing the kinetic energy of the ball at di erent velocities. 4. If you carry this poor, abused half-kilo ball to the roof of your building, which is 4 meters high, how much potential energy does it now have What does all this have to do with robots Lots! Say you had a 10 kg robot that was trying to climb a 10 degree hill. How much push (acceleration) does it have to have to make it to the top If the hill is 100 meters high, how much energy was expended to get it there (think potential energy) You don t have enough information to answer these robot questions yet, but you will soon.

The purpose of the drive system is to provide motion at the required rate In this section, the evolution of the drive systems from the nut and screw transmission to the linear motor drives is clearly illustrated The conventional machines usually apply the nut and screw transmission system, which is sometimes known as a lead screw system with its improved form using recirculating balls In precision and ultraprecision machines, the friction drive and linear motor drive are more suitable

We define the (infinite) vertex renormalization constant Z 1 through (7-49 b) Again the factor Z 11 in front of the renormalized vertex correction can be replaced by unity, when computing to first order, and r;;(p', p) is normalized by requiring that on-shell (p,2 = p2 = m2) and for zero momentum transfer, its matrix element between Dirac spinors vanishes:

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