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CHAPTER 7 Sequencing and Programs
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Fig. 7-6.
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Eccentric cam.
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that it lives alone in a big house collecting cats. It literally means that it is o -center. The cam provides one way to convert rotary motion (the turning of the cam) into linear motion. Look at the cam from a xed point of view. As the cam rotates its edge gets closer and closer to us, until it reaches its closest point and then the edge retreats. This moving edge can be used to trigger a switch, push a lever, or slide a bar. When the cam pushes on a lever or rod, the pushed piece is called a cam follower. Followers may have rollers or some other friction-reducing scheme on their end to keep them from rubbing on the cam and slowing things down. Cams don t have to be round, but can have any shape desired. Cams may also consist of pins or pegs stuck into a wheel, so long as the cam follower doesn t get stuck on them. Figure 7-7 shows a more intricate cam, a cam follower, and the motion of the follower traced out on a graph. Multiple cams can be stacked on the same shaft, each one controlling some aspect of a machine. The cams don t have to be individual disks, but can be a solid drum or bar of material that has been shaped to act like a series of cams. Music boxes use this type of mechanism, a rotating drum with pins on it that pluck the musical tines. The only limit to a cam s shape is your imagination. Changing the programming on a cam-driven machine requires that you take it apart and replace pieces inside of it. This may not be the most e cient way to change the machine s action. More advanced cams let you replace their bumps without taking things entirely apart, but this is still a clumsy way to program a robot.
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CHAPTER 7 Sequencing and Programs
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Cam follower.
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Try This: Draw a cam shape onto a piece of heavy paper or cardboard. Cut it out! Punch a hole in the middle and stick a pencil through it. Now tape a piece of paper to the wall. If you hold the point of the cam s axle pencil against the paper and then roll the cam, you should be able to trace out the control signal on the paper. Did you get what you expect Of course, if you have two bumps close together, they will be merged together by the large at surface of the oor. The oor doesn t make a very precise cam follower. Try drawing a control signal and then designing a cam that will reproduce it.
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While cam control works, it can be hard to reprogram. What we need is some way to feed instructions to a machine from the outside. Then we can
CHAPTER 7 Sequencing and Programs
feed it di erent instructions at di erent times, to make it perform di erent actions. First, let s make a simplifying assumption. Cams have a special property that is so obvious that you probably didn t even notice it. Their bumps can be of any height or shape. If you traced the graph on the eccentric cam from Fig. 7-6, for example, you would get a smooth sinusoidal, or wave-like, shape. The graph for Fig. 7-7 had a more structured look, but the fact remains that we could make our graph take almost any shape we want. This makes the output from cams analog, meaning the cam creates a smooth, continuous signal. If we assume, instead, that we are triggering a switch with the control cam, we only care if the switch is on or o . This is a digital signal, meaning it has individual discrete states that you can count on your ngers (digits). Assuming we want a digital control signal, there are a number of options open to us. One of the oldest digital control systems is the punched card. This is a card, made of thin wood or thick paper, with holes punched in it. An example is shown in Fig. 7-8. The small rectangles in the gure are holes in the card. When the card passes through a reader, small ngers make contact through the holes. The reader is, in fact, a multipole card-actuated switch. There are versions of the card reader that don t use mechanical switches. Light passing through the holes to a sensor is faster and doesn t wear down the card. Those multiple-choice tests where you ll in the bubble with a pencil are a descendent of the punch card. Joseph Marie Jacquard made good use of punched cards to control patterns in a silk loom in the early nineteenth century. His cards were linked into a long belt so the pattern could cycle endlessly, or until something jammed.
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