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Between the pushing and pulling of the atomic forces, it is as if each atom is connected to its neighboring atom by a spring. The spring is made up of millions of smaller atomic springs, in the same way that an apple is pulled toward the Earth by the force of the gravity spring. Of course, these aren t tiny physical springs inside our big spring. They are the forces that keep our universe together. Strain occurs when you pull or push the atoms in an object against the atomic forces that are working to keep them in place. The object then changes shape, or deforms. This deformation is the visible manifestation of the strain inside an object. You feel the strain by the force of the object trying to return to its original shape. Of course, if you put too much strain into something, the atoms can be pushed and pulled too far and break their internal springs. Then the object bends or breaks, and its stored potential energy is rearranged so we can t use it anymore. When you stretch or compress a spring, it pushes back with the force of: F k l 2-7



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Fig 510: Precitech 4 inch vacuum chuck [4]

(7-49a)

k is the spring constant, which describes how springy the spring is, and l is how far the spring has been stretched or squished (Fig. 2-13). The spring s force pushes in the opposite direction of the force used to deform it. The spring s stored force exactly matches the force it took to deform it. The same with a rubber band, though rubber bands are only useful in the stretch direction. In robotics, you can use the force stored in a spring or rubber band to push against the acceleration of gravity, to make it easier for the robot s motors to lift something. Springs can also be used to hold something in position, to keep it from moving.

Fig 511:

Moore vacuum chuck [5]

Fig. 2-13.





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In machines, guideways help to guide the tool or workpiece along a predetermined path, usually either a straight line or a circle [6] Guideways, lubrication and drive systems are discussed in the next section and form an important part of ultra-precision machines There are basically two types of guideways friction guideways and anti-friction or hydrostatic guideways Friction guideways were initially used but are now replaced by hydrostatic guideways in precision and ultra-precision machine tools A guideway should be highly accurate, durable and rigid Machine tools require guideways for guiding the movement of the workpiece and for positional adjustment The designing of guideways for tables, saddles and cross-slides involves the following aspects [7]: Shapes of the guiding elements and arrangements of their combinations Effect of material and working conditions upon the guiding accuracy (wear) Friction conditions and load carrying capacity (roller bearings and lubrication) According to Koenigsberger [7], a good guideway design is needed to satisfy the following requirements: Provision of an exact alignment of the guided parts in all positions and under the effect of the operational forces Provision of a means for compensating possible wear Ease of assembly and economy in manufacture (possibility of adjusting the alignment in order to allow for manufacturing tolerances) Freedom from restraint Necessary prevention of chip accumulation and ease of removal of any chips Effective lubrication must be possible In order to achieve a good wear resistance, the pressure distribution must be uniform The most commonly used guideway materials are cast iron and durobar steels Different types of profiles may be employed for different applications Guideways are also classified into two groups, one with external and the other with internal features The most common is the prismatic symmetric guideway, which

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is well suited for obtaining a very accurate movement of parts (Figure 512) It has the characteristic of self-aligning during wear The external prismatic guideway enables easy removal of chips, while the internal type offers a good lubricant retention For uneven pressure distribution, the prismatic symmetric type can be modified into the prismatic unsymmetric (asymmetric) type for the same operating characteristics (Figure 513) The internal prismatic unsymmetric type is normally used for rotary applications These guideways are capable of automatic adjustment because of the action of gravity, which keeps the surfaces in contact [8]

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