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If your machine is heavy, the friction between the pivot and the part can get large. In that case, you need to take extra steps to reduce the friction of the moving parts. The simplest tool to reduce friction is the bushing. The bushing illustrated in the left-hand side of Fig. 8-3 is sintered bronze that has been lled with oil. Sintering is a way to make a porous solid, like a ne sponge. The technique of sintering is used in ceramic and metals and involves heating and pressing, or gluing, a bunch of particles together into a porous block. The bronze bushing is constantly leaking its oil into the joint, keeping it running smoothly. Bushings can also be made from hard, smooth plastics like nylon or PTFE compounds. These plastics are both tough and naturally smooth.

Photoresistor The cadmium sulfide (CdS) photoresistors used in my prototype have a dark resistance of about 100K ohms and a light resistance of 10K ohms The top of the 100:1 gearbox motor bracket is a perfect.

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To use a bushing, you drill a hole in your part that is just slightly smaller than the outside of the bushing. The bushing is pressed into the part and friction, ironically enough, holds it in place. A rotating shaft runs through the middle of the bushing. Bushings are good for slowly rotating joints, but for high-speed operation you need something even better. Ball bearings are that something. Ball bearings are hard metal spheres locked into a frame. The balls roll instead of rub. Because we aren t rubbing two parts together there is almost no friction. A ball bearing normally consists of the balls and two tracks that lock together around them, as shown in the cutaway drawing on the right side of Fig. 8-3. Like bushings, the ball-bearing assembly is pressed into a tight- tting hole in the machine and a shaft passes through its center hole. You can also buy bearings and bushings that have been premounted into a plate or bracket, sometimes called a pillow block. This block can then be bolted to your machine so you don t have to worry about the di cult process of pressing the bearing into place. You can nd rotating joints everywhere you look, from doorknobs to the wheels of your car or bicycle. Even the propeller on a beanie hat uses a simple rotating joint.

%%%%%%%% ############# Team LRN Behavioral-based robotics, neural networks, nervous nets, and subsumption architecture @@@@@@@ &&&&&&&&&

a simple unbroken circle (don t do this, it s bad for the battery). We normally drop additional components into this track, creating something closer to an obstacle course or, for some poorly designed circuits, a demolition derby.

8.11 Side dimensional detail (robot base side of the tilt switch) of plastic screw with top brass nut

5 media interface converters plug into the copper interface and convert it to an optical interface. GBICs use an HSSD connector for the copper interface, and media interface converters use the DB-9 copper interface. The benefit is a low-cost copper link and optics for longer distance when required.

5

shelf for mounting the photoresistor (see Fig. 8.13). I used a small piece of plastic to mount the photoresistors at a 45 degree angle up with an opaque vane mounted in between the photoresistors (see Fig. 8.14). Mounting the photoresistors on the drive wheel assembly keeps the sensors pointing in the same direction as the drive wheel. This replicates the function of the original tortoise robots. Using two CdS photosensors in this configuration alleviates much of the computation needed to track a light source. This is the same