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Figure 11 Mold Shape Deposition Manufacturing (MSDM): Casting molds can be formed in successive layers: Wax for the mold and water-soluble photopolymer to support the cavity are deposited in a repetitive cycle to build the mold in layers whose thickness and number depend on the mold s shape (a). UV energy solidifies the photopolymer. The photopolymer support material is removed by soaking it in hot water (b). Materials such as polymers and ceramics can be cast in the wax mold. For ceramic parts, a gelcasting ceramic slurry is poured into the mold to form green ceramic parts, which are then cured (c). The wax mold is then removed by heat or a hot liquid bath and the green ceramic part released (d). After furnace firing (e) any vents and sprues are removed.
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Popsicle sticks, crazy glue, hot glue, shirt cardboard, packing tape, clay, or one of the many construction toy sets, etc. Fast, cheap, and surprisingly useful information on the effectiveness of whatever concept has been dreamed up can be achieved with very simple prototypes. There s nothing like holding the thing in your hand, even in a crude form, to see if it has any chance of working as originally conceived. Robots can be very complicated in final form, especially those that do real work without aid of humans. Start simple and test ideas one at a time, then assemble those pieces into subassemblies and test those. Learn as much as possible about the actual obstacles that might be found in the environment for which the robot is destined. Design the mobility system to handle more difficult terrain because there will always be obstacles that will cause problems even in what appears to be a simple environment. Learn as much as possible about the required task, and design the manipulator and end effector to be only as complex as will accomplish that task. Trial and error is the best method in many fields of design, and is especially so for robots. Prototype early, prototype often, and test everything. Mobile robots are inherently complex devices with many interactions within themselves and with their environment. The result of the effort, though, is exciting, fun, and rewarding. There is nothing like seeing an autonomous robot happily driving around, doing some useful task completely on its own.
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Acknowledgments
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his book would not even have been considered and would never have been completed without the encouragement and support of my loving wife, Victoria. Thank you so much. In addition to the support of my wife, I would like to thank Joe Jones for his input, criticism, and support. Thank you for putting up with my many questions. Thanks also goes to Lee Sword, Chi Won, Tim Ohm, and Scott Miller for input on many of the ideas and layouts. The process of writing this book was made much easier by iRobot allowing me to use their office machines. And, lastly, thanks to my extended family, especially my Dad and Jenny for their encouragement and patience.
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Copyright 2003 by The McGraw-Hill Companies, Inc. Click here for Terms of Use.
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Motor and Motion Control Systems
Copyright 2003 by The McGraw-Hill Companies, Inc. Click here for Terms of Use.
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INTRODUCTION
A modern motion control system typically consists of a motion controller, a motor drive or amplifier, an electric motor, and feedback sensors. The system might also contain other components such as one or more belt-, ballscrew-, or leadscrew-driven linear guides or axis stages. A motion controller today can be a standalone programmable controller, a personal computer containing a motion control card, or a programmable logic controller (PLC). All of the components of a motion control system must work together seamlessly to perform their assigned functions. Their selection must be based on both engineering and economic considerations. Figure 1-1 illustrates a typical multiaxis X-Y-Z motion platform that includes the three linear axes required to move a load, tool, or end effector precisely through three degrees of freedom. With additional mechanical or electro-
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