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248 CHOOSING THE RIGHT MOTOR FOR THE JOB
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usually confined to miniature mechanical systems, such as radio-controlled models. Oddsized pitches exist, of course, as do metric sizes, so you must be careful when matching gears that the pitches are exactly the same. Otherwise, the gears will not mesh properly and may cause excessive wear. The degree of slope of the face of each tooth is called the pressure angle. The most common pressure angle is 20 , although some gears, particularly high-quality worms and racks, have a 14 1/2 pressure angle. Textbooks claim that you should not mix two gears with different pressure angles even if the pitch is the same, but it can be done. Some excessive wear may result because the teeth aren t meshing fully. The orientation of the teeth on the gear can differ. The teeth on most spur gears are perpendicular to the edges of the gear. But the teeth can also be angled, as shown in Fig. 17.12, in which case it is called a helical gear. A number of other unusual tooth geometries are in use. These include double-teeth, where two rows of teeth offset one another, and herringbone, where there are two sets of helical gears at opposite angles. These gears are designed to reduce the backlash phenomenon. The space (or play ) between the teeth when meshing can cause the gears to rock back and forth.
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Pulleys, Belts, Sprockets, and Roller Chain
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Akin to the gear are pulleys, belts, sprockets, and roller chains. Pulleys are used with belts, and sprockets are used with roller chain. The pulley and sprocket are functionally identical to the gear. The only difference is that pulleys and sprockets use belts and roller chain, respectively, to transfer power. With gears, power is transferred directly. A benefit of using pulleys-belts or sprockets-chain is that you don t need to be as concerned with the absolute alignment of the mechanical parts of your robot. When using gears you must mount them with high precision. Accuracies to the hundredths of an inch are desirable to avoid slop in the gears as well as the inverse binding caused by gears that are meshing too tightly. Belts and roller chain are designed to allow for slack; in fact, if there s no slack you run the risk of breaking the pulley or chain!
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Standard tooth spur gear FIGURE 17.12 Standard spur gear versus diagonal helical spur gear. The latter is used to decrease backlash the play inherent when two gears mesh. Some helical gears are also made for diverting the motion at right angles.
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Helical gear
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Pulleys come in a variety of shapes and sizes. You re probably familiar with the pulleys and belts used in automotive applications. These are likely to be too bulky and heavy to be used with a robot. Instead, look for smaller and lighter pulleys and belts used for copiers, fax machines, VCRs, and other electronic equipment. These are available for salvage from whole units or in bits and pieces from surplus outlets. Pulleys can be either the V type (the pulley wheel has a V-shaped groove in it) or the cog type. Cog pulleys require matching belts. You need to ensure that the belt is not only the proper width for the pulley you are using but also has the same cog pitch.
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Sprockets and roller chain are preferred when you want to ensure synchronism. For large robots you can use 3/8-inch bicycle chain. Most smaller robots will do fine with 1/4-inch roller chain, which can frequently be found in surplus stores. Metal roller chain is commonly available in preset lengths, though you can sometimes shorten or lengthen the chain by adding or removing links. Plastic roller chain, while not as strong, can be adjusted more easily by using snap-on links.
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