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Standard Tooth Spur Gear
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Helical Gear
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FIGURE 19-12 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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As it turns, the threads engage a modified spur gear (the modification takes into consideration the cylindrical shape of the worm). Worm gear systems are specifically designed for large-scale reduction. The gearing is not usually reversible; you can t drive the worm by turning the spur gear. This is an important point because it gives worm gear systems a kind of automatic locking capability. Worm gears are particularly well suited for arm mechanisms in which you want the joints to remain where they are. With a traditional gear system, the arm may droop or sink back due to gravity once the power from the drive motor is removed. Rack gears are like spur gears unrolled into a flat rod. They are primarily intended to transmit rotational motion to linear motion. Racks have a kind of self-locking characteristic as well, but it s not as strong as that found in worm gears. The size of gear teeth is expressed as pitch, which is roughly calculated by counting the number of teeth on the gear and dividing it by the diameter of the gear. For example, a gear that measures 2 in and has 48 teeth has a tooth pitch of about 24. Common pitches are 12 (large), 24, 32, and 48. Some gears have extra-fine 64-pitch teeth, but these are usually confined to miniature mechanical systems, such as radio-controlled models. Odd-sized 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 in 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. 19-12, 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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19.8 MOUNTING THE MOTOR
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19.7 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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