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The Geneva stop gives intermittent motion (Fig. 14-23). In position 1 the Geneva gear is locked against the hub of the crank. The crank is a stud on a disk in this example. In position 1, the crank is entering the slot in the gear. In positions 2 and 3, the crank drives the gear through a partial rotation. The gear has room to move because of the crescent cut out of the crank s hub. Position 4 shows the gear locked into place again.
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Try This: Another useful mechanism, the ratchet, allows motion in one direction but not the other (Fig. 14-24). It consists of a toothed wheel, like a gear, and a pawl that slips between the teeth. As the ratchet wheel rotates
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Shaping Motion
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Fig. 14-23.
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Geneva stop.
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forward the pawl slides up the tooth and, as the tooth passes, it clicks down again. Moving backward, the tooth hits the pawl and prevents further motion. Note that the ratchet wheel is not normally a gear but will have teeth specially designed for easy motion and solid braking. The pawl needs to be pushed down so that it catches solidly in the ratchet. Gravity can serve this purpose in some cases, or the pawl can be held down with a spring or, in the case of Fig. 14-24, a rubber band.
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This chapter provided a brief pictorial view of some of the simpler mechanisms you can use to shape and control motion. We looked at mechanisms
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Shaping Motion
Fig. 14-24.
Ratchet.
from the simple lever to a geared link system providing complex harmonic motion. A large number of the mechanisms acted to change the direction of motion, either from a linear motion to a di erent linear motion, or from rotary motion to a linear motion. The ability to transform rotary motion from a motor into linear motion is used by many machines. Another set of mechanisms focused on parallel motion moving a link in space without rotating it. Parallel motion is useful for providing a precise grip for robotic hands, among other uses. Finally, the above mechanisms shape motion. The shape of a motion is the path it follows through space over time. If you are interested in mechanical motion, I highly recommend that you check out the cardboard kits and creations of Flying Pig, at www. yingpig.com. As you go through your day, look at the machines around you and see what mechanisms they use to shape their motions.
Shaping Motion
Quiz
1. 2. 3. 4. You have a stick. You drill a hole in it. What can you do with this You have TWO sticks and a wheel. What can you do with those What does a four-bar linkage do You want a wheel to go in one direction but not another. How do you limit it to one-way rotation
CHAPTER
Communication
Introduction
Robots aren t isolated machines thumping away quietly in a corner all by themselves. They may be part of a system of machines, or they may run in conjunction with human supervisors and operators. Just as feedback is used to keep the parts of a machine under control, communication between machines keeps them working together to achieve a common goal.
Telerobotics
Not all robots operate alone, making parts in a factory or vacuuming your carpet. Some robots extend the reach of our human senses, giving our minds
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CHAPTER 15 Communication
a way to operate in dangerous or distant environments where our bodies may not go. This is the eld of telerobotics. Telerobotics combines the ability to control the robot from a distance, teleoperation, and the ability to see, hear, and otherwise sense the environment around the robot, telepresence. A remote robot may operate across vast distances, such as the explorer robot on Mars. It may operate across a short phyiscal distance but into very harsh environments, like cleanup robots in nuclear power plants or explorer robots in the mouth of a volcano. Or the robot may operate across large di erences in scale, such as in microsurgical systems or small search and rescue robots. Another term for telerobotics, teleoperation speci cally, comes from science ction. Robert Heinlein invented the term waldo for a remote manipulator, a mechanical extension of your body. Waldos may be electronically controlled, or they could be driven by direct mechanical linkages.
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