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The four-bar linkage can be used for more than simple parallel motion. By changing the length of the four links you can program the linkage to start in one position and end in another. First we need to name the links for easy reference. The base or stationary bar is the ground bar. The link whose motion we are designing is the coupler bar. The other two links are the crank and the follower. A crank is the powered link, and a follower is the unpowered link. The rst thing to do is to decide where the coupler bar must go. Only the starting and ending positions are signi cant, so we draw these into place relative to the ground bar (Fig. 14-14). Let s call one end of the coupler A and the other end B. Draw a large circle centered on the start and end positions of end A. The circles need to be large enough so that they overlap, as shown in Fig. 14-15. Now draw a line through the two points where the circles overlap. Where this line crosses the ground bar is where the follower is attached. The other end of the follower is, of course, attached at point A on the coupler. The length of the follower is the distance from the ground pivot to point A. This procedure is repeated with point B (Fig. 14-16).

The following defines and illustrates the four basic design architectures (edge switches, core switches, and ports):

industrial servo motors are also available, they are too expensive for most hobby applications. In this book we work with inexpensive and readily available hobby servo motors. There are three wire leads to a servo motor. Two are for power, 4 to 6 V and ground. The third lead feeds a position-control signal to the motor. The control signal is a variable-width pulse between 1.0 and 2.0 milliseconds (ms). A neutral, midrange positional pulse is a 1.5-ms pulse. The pulse is sent 50 times a second (1 pulse every 20 ms or so) to the motor. This pulse signal will cause the shaft to locate itself at the midway position at 45 degrees.

Fig. 14-14.

The shaft rotation on a servo motor is limited to approximately 90 degrees ( 45 degrees from the center position). A 1-ms pulse will rotate the shaft all the way to the left (see Fig. 4.10), while a 2-ms pulse will turn the shaft all the way to the right. By varying the pulse width between 1 and 2 ms, the servo motor shaft can be rotated to any rotational degree position within its range. You may feel that providing the pulse signal is a complex job; it isn t. The 16F84 PIC microcontroller, covered in Chap. 7, uses only a few lines of code to control a servo motor. And the PIC can control up to eight servo motors at a time. Another viable method is to utilize the servo motor control system used in R/C systems. Another alternative is to make your own circuit. Making a servo motor circuit isn t as difficult as it may first appear. Figure 4.11 uses a 556 dual timer to control a servo motor. The 556 has two independent timers. To see the function more clearly, look at Fig. 4.12. Here two separate 555 timers are used. One timer is set in astable mode. The astable timer outputs a 55-hertz (Hz) square wave with a 1-ms negative component. The output from this timer is connected to the second 555 timer that is set up in monostable mode.

Fig. 14-15.

Two core switches Three 96 ports A total switch count of 10 A 3:1 ISL oversubscription rating Figure 2-6 illustrates the 8/2/96 architecture.

Because the difference in lift is small, it is not worth the added risk of using hydrogen gas! I recommend using helium gas only.

Fig. 14-16.

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The piece of Mylar used to make a balloon after it s folded in half, lying down flat, measures 34" 56". The weight of the material is 3 oz (0.1875 lb). It s difficult to estimate how much helium the balloon will hold. To make a rough estimate, I use the volume of a cylinder. I know a pillow shape is not a cylinder, but, like I said, it s a rough estimate. First find the diameter. The material is 34" 2 equaling 68" for the circumference. The circumference of a circle is 2 times pi (3.14) times the radius. If you do the math, the radius works out to 11". The volume of a cylinder equals pi times the radius squared times the height. The height in this case is 56". If you do the math, the volume equals about 12 ft3. The balloon will not be filled to its maximum capacity. In this case I d estimate the balloon will hold about 70 percent of the calculated volume or about 8.4 ft3 of helium gas.

Fig. 14-17.

0.678 lb 0.0924 lb 0.1875 0.398 lb,

When you build this mechanism, it will reach the desired positions precisely, as shown in Fig. 14-17.