Olcay Türkoğlu Unnoticed Missing Terms of 11th and 12th week

11th Week

1. FAMULUS Robot:

In 1969, Victor Scheinman at Stanford University invented the Stanford arm, an all-electric, six-axis articulated robot designed to permit an arm solution. This allowed it to accurately follow arbitrary paths in space and widened the potential use of the robot to moresophisticated applications such as assembly and welding. Scheinman then designed a second arm for the MIT AI Lab, called the “MIT arm.” Scheinman, after receiving a fellowship from Unimation to develop his designs, sold those designs to Unimation who further developed them with support from General Motors and later marketed it as the Programmable Universal Machine for Assembly (PUMA). In 1973, KUKA Robotics built its first robot, known as FAMULUS, this is the first articulated robot to have six electromechanically driven axes.

(Sensors and Control System in Manufacturing, McGraw Hill, 2010, p.420)

12th Week

3. Rotor Wear:

The rotors, in ideal service, would not wear because they would not touch, being synchronized by the timing gears. Realistically, wear does occur. Although this style of compressor works better in dirty gas service than many other compressors, the presence of particulates are what causes wear. Normally, this occurs on the seal strips. This compressor also tolerates liquid mist better than the other compressors. If this type of operation is anticipated, the supplier can overlay the casing with a welded material to add abrasion or corrosion resistance and to minimize rotor bore wear. Although seal strips can be renewed, it is difficult and therefore expensive to repair a badly eroded casing.

(ASM, Metal Handbook, v18, 1992, p1238)

6 Swiss Lever Escapement Mechanism:

The Swiss lever escapement mechanism: 1—hairspring, 2—balance wheel, 3—guard pin, 4—banking pin, 5—pallet fork, 6—escape wheel.

Figure shows the Swiss lever escapement mechanism. It consists of five components: a balance wheel, a hairspring, two banking pins, a pallet fork, and an escape wheel. Note that one end of the hairspring is fixed, whereas the other end is attached to the balance wheel. The balance wheel oscillates periodically under the driving force from the escape wheel through the pallet fork and the restoring force of the hairspring. It is the guard pin, which is a synthetic ruby on the balance wheel, that sends and receives impulses from the pallet fork to the balance wheel. The banking pin limits the rotation of the pallet fork. The escapement wheel rotates intermittently at a specific speed according to the frequency of the system.

(Mechatronic Systems Devices, Design, Control, Operation and Monitoring. CRC Press, 2008 p3-2)