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Of course, I have to acknowledge my wife Marla for letting me take the time to write this book. My reviewers, Bob Comer and Matt Pinsonneault with help from Nikolas Wise, helped me to remain coherent and stay on track. The text was written in Microsoft Word, and the graphics and diagrams were created and edited with Adobe s Photoshop, Midnight Software s DeltaCAD, CadSoft s Eagle electronics layout editor, Pacestar s ever useful EDGE Diagrammer, and MFSoft s Equation Grapher. Facts were checked against the Oxford English Dictionary and the Wikipedia at www. wikipedia.com, both of which are excellent sources of information. Special appreciation goes out to the ne people at www.lugnet.com and the tools their members have created, without which this book would look a lot less interesting. MLCad by Michael Lachmann let me draw all of the LEGO designs and LPub by Kevin Clague processed these models, using geometry in Luts Uhlmann s LGeo library, for rendering. Electronic layout to POVRay model conversion was handled by Eagle3D, which was written by Matthias Weisser. Eagle3D can be found on his homepage at http://www.matwei.de/. All rendering was done by POVRay, from www.povray.org. LEGO is a trademark of the LEGO Group of companies, who reserve all rights to their names and logos. This is not a LEGO book, a book about LEGOs, nor is this work endorsed by LEGO. We do, however, use the LEGO construction system to provide mechanical examples. These little plastic blocks are available everywhere, and provide a familiar context for our exploration. The LEGO Mindstorms system also provides motors and computers that we use to learn about robotic systems. All other product names are the trademark of their respective companies. E. W.



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reciprocates vertically [6]

only be performed on gears with a hardness of 40 HRC or lower Although the tools are expensive and special machines are necessary, shaving is a rapid and the most commonly used process for gear finishing It produces gear teeth with an improved surface finish and accuracy of the tooth profile

r;;(p', p) = Z 1 [rtt(p', p) - rtt(p, p)] - optt IR(p)

Robot 1.a. One of the mechanical men and women in Capek s play; hence, a machine (sometimes resembling a human being in appearance) designed to function in place of a living agent, esp. one which carries out a variety of tasks automatically or with a minimum of external impulse. b. A person whose work or activities are entirely mechanical; an automaton. Oxford English Dictionary, Online Edition

Fig 19: A high-precision gear-shaving cutter used to finish a gear [8]





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Karel Capek used the word Robot in his 1921 play Rossum s Universal Robots, derived from the Czech word robota, meaning forced labor. These Robots were created to replace man and, in their simpli ed form, as cheap labor. Robots had perfect memory but were incapable of thinking new thoughts. They mirrored the Hebrew legends of the golem, a clay statue that has had life breathed into to by mystical means. And, of course, this all sounds a lot like Dr. Frankenstein s monster, reanimated from the bits and pieces dug up from the local graveyard. One thing these stories have in common is that the creation is ultimately the downfall of their creator robots, golems, and reanimated esh mean trouble. They are an illustration of what happens when we reach too far and are bitten by the unintended consequences.

Shaved gears may subsequently be heat-treated and ground to achieve an improved hardness, wear resistance and accurate tooth profile

The two processes that are used in precision machining are diamond grinding of Integrated Circuit (IC) chips and precision manufacture of spherical and aspherical surfaces on plastics and glass

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Try This: Building a pulley machine starts out the same as for the lever machine, as shown in Fig. 3-15. Instead of a pivot for the lever, however, we put in an anchor to tie our string to. We don t use this anchor yet. The pulley itself snaps onto the other side of the tower, as shown in Fig. 3-16. You can experiment with this pulley, though its operation is fairly obvious. The fun begins when we begin to make pulleys behave like levers, to amplify our strength. To double our strength, we need to nd a way to pull twice as much rope while making the weight rise the same distance. This could look like Fig. 3-17. The new pulley is not xed into position, but travels with the

The grinding of a silicon wafer (Integrated Circuit Chips) using a CNC milling machine is a precision machining process Figure 110 shows an IC silicon chip before and after grinding it on a MAHO CNC vertical milling machine (Figure 111) Conventional surface grinding techniques using large diameter wheels may not be appropriate for machining thin wafer IC silicon dies, as the force will likely damage the capacitors and transistors contained on the chip Non-traditional focused ion beam machining may not work as the heat generated might damage the transistors Also, an end-milling technique using small diameter wheels at the maximum speed of a conventional milling centre is often not fast enough to minimize cutting forces These considerations have necessitated the use of an air driven ultra-precision high-speed jig

Fig 110: Integrated circuit (IC) chips (a) before and (b) after precision grinding [9]

Fig. 3-15.

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