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The challenge of a crusher design lies not only in achieving the force required, but in designing a claw structure strong enough to deliver the force without collapsing Most crusher designs use claws that taper to narrow blades or spikes to focus the force on as small an area of the target s structure as possible The claw not only needs to be designed to survive its own crushing force, but must be rigid enough to avoid bending on hits from spinners or off-center forces from closing onto a sloped surface Figure 10-14 shows a schematic Ideally, a crusher s claw should be large enough to bite into a sizable chunk of the opposing robot A claw that s too small will not be able to damage much more than outer armor layers or small protruding pieces; and if used against a large target with curved surfaces, a small claw might simply slide off the target without digging in Typically, you will want your claw to open as large as the height of the largest robot you expect to fight, and be long enough to get at least a third of the way into your opponent for maximum damage potential You also want the claw to close as quickly as possible A claw that takes more than a few seconds to close will likely allow the opposing robot to escape before being crushed A closing time of one second or less should prevent even an agile robot with high ground clearance from getting free Of course, the combination of high force and high speed requires a powerful motor to drive the claw mechanism A variable-displacement pump on a hydraulic-powered crusher will allow you to do both with less power the hydraulic system can run in high-speed, low-pressure mode until the claw makes first contact, and then switch to high-pressure mode for the main crushing action.

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U I L D I N G a robot requires that you make many decisions from the type of sensors you ll use to the color you ll paint it Some of these decisions are trivial, while others will make or break your robot One decision in the make-or-break category is motors not just deciding which ones you ll use, but determining how you ll optimize their performance Most robots use the same class of motor the permanent magnet direct current (PMDC) motor These commonly used motors are fairly low in cost and relatively easy to control Other types of electric motors are available, such as series-wound field DC motors, stepper motors, and alternating current (AC) motors, but this book will discuss only PMDC -type motors If you want to learn more about other types of motors, consult your local library or the Internet for that information Some combat robots use internal combustion motors, but they are more commonly used to power weapons than to drive the robots, largely because the internal combustion engine rotates only in one direction If you are using an internal combustion engine to drive the robot, your robot will require a transmission that can switch into reverse or use a hydraulic motor drive system With electric motors, however, the direction of the robot can be reversed without a transmission Many combat robots combine the two, using electric motors for driving the robot system and internal combustion motors for driving the weapons Another use for internal combustion engines is to drive a hydraulic pump that drives the robot and/or operates the weapons Since most robots use PMDC motors, most of the discussion in this chapter will be focused on electric motors At the end of this chapter is a short discussion of internal combustion engines

Report Template Analytic Chart and Analytic Grid Description Analytic charts and grids are either chart or grid views of OLAP data The charts can be either line or bar charts Both of these chart types require Analysis Services to be the data source These templates are preferred over the PivotChart and PivotTable templates because they are thin-client tools as opposed to the thick-client PivotChart and PivotTable controls A caveat with the Analytic Chart and Grid is that they only work with Analysis Services 2005, so they are not backwards-compatible with Analysis Services 2000 This template will pull data from Excel Services workbooks that have already been published so they can be included in a report view

The solution to the problem is to subnet the 14000 network into a bunch of smaller networks We do not have to create subnets on even byte boundaries, but for the sake of discussion, we will break the Class A net into Class C like addresses Figure 29-11 shows (without getting too carried away) what this might look like The first thing we note is that we have introduced another router because the only way to get between subnets is by using a router So now, our first router (R-1) thinks it has found the 14000 net when it finds a port on the 14110 just as before The second router (R 2) has to know that the 14000 network has been subnetted into Class C nets, and that it isn t finished routing until it finds the Class C addressed network The way the router and all hosts know this is by being given a subnet mask that contains all ones over the portion of the address that specifies the network The subnet mask for hosts on the 14000 network in Figure 29-10 would be 255000 The subnet mask for hosts on any of the networks from routers 2 or 3 would be 2552552550 Thus, these routers and hosts don t care if it is a Class A address; they route until they find the last network The good news is that we can now limit the size of our broadcast domains Can you imagine what would happen on the 14000 network (shown earlier in Figure 29-10 ) if we sent out a broadcast message looking for a particular station Everyone, everywhere would get it Since nearly all of the Class A and Class B addresses have been assigned, the only addresses available are Class C, and they are running out.

Because the robot s speed, pushing capability, and power requirements are directly related to the motor performance, one of the most important things to understand as you design your new robot is how the motors will perform In most robot designs, the motors place the greatest constraints on the design