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Linear encoders can make direct accurate measurements of unidirectional and reciprocating motions of mechanisms with high resolution and repeatability. Figure 1-38 illustrates the basic parts of an optical linear encoder. A movable scanning unit contains the light source, lens, graduated glass scanning reticule, and an array of photocells. The scale, typically made as a strip of glass with opaque graduations, is bonded to a supporting structure on the host machine. A beam of light from the light source passes through the lens, four windows of the scanning reticule, and the glass scale to the array of photocells. When the scanning unit moves, the scale modulates the light beam so that the photocells generate sinusoidal signals. The four windows in the scanning reticule are each 90 apart in phase. The encoder combines the phase-shifted signal to produce two symmetrical sinusoidal outputs that are phase shifted by 90 . A fifth pattern on the scanning reticule has a random graduation that, when aligned with an identical reference mark on the scale, generates a reference signal. A fine-scale pitch provides high resolution. The spacing between the scanning reticule and the fixed scale must be narrow and constant to eliminate undesirable diffraction effects of the scale grating. The complete scanning unit is mounted on a carriage that moves on ball bearings along the glass scale. The scanning unit is connected to the host machine

In 16, the TV remote control, which receives a modulated infrared light signal, was introduced as a basic method of providing a remote control to robots. Along with receiving commands for robot movement, it can also be used to seek out and find the range to objects around a robot just as a submarine detects objects around it using sonar. The equipment required to provide this capability just costs a few dollars and is surprisingly easy to experiment with as will be shown in the following section. An IR LED can be used to generate a modulated IR signal using the hardware shown in Fig. 30-4. The modulated IR signal lasts for about 500 s, which is enough time for the TV remote control receiver to recognize it. If there is no object from which the signal can reflect off of, the TV remote control receiver does not indicate that a signal is present. The modu-

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Equation (3-7) is essentially the same as equation (3-4) for the wedge. Though we look at several di erent simple machines, each with their own approach to increasing force, the principles behind each one are the same. Force is force, and the rules governing force are not going to change. If we seem to be getting more force at the output of a mechanism, somewhere inside it we are spending velocity or distance to get it. A second-class lever is shown in Fig. 3-12, and a third-class lever in Fig. 3-13. These have the same pieces as a rst-class lever, just in di erent positions. Note that the third-class lever has you pushing harder to get greater distance, backward from the rst and second-class levers. Your arm is a third-class lever with your elbow at one end, your wrist at the other, and the muscle attached in between.

FIGURE 30-3 The Texas Instruments TIL139 infrared emitter/detector sensor unit. These types of units are often available on the surplus market.

FIGURE 30-4 The circuitry used to detect objects using infrared LEDs and TV remote controls operates on the same theory as sonar; signals sent out from the LED reflect off of objects and are detected using the TV remote control.

Figure 1-38 Optical linear encoders direct light through a moving glass scale with accurately etched graduations to photocells on the opposite side for conversion to a distance value.

A pulley is essentially a wheel. Where a wheel wears a skirt of rubber so it has a lot of friction, the pulley has a groove for a rope around its edge. Pulleys are designed so they don t add much friction to the machine they are a part of. Methods for removing friction are explored in a later chapter.

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