/[gzz]/manuscripts/Control1/poster.rst
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revision 1.89 by tjl, Mon May 5 21:37:22 2003 UTC revision 1.90 by tjl, Mon May 5 21:38:34 2003 UTC
# Line 411  See e.g. [bers02mindstorm]_ [miglino99mi Line 411  See e.g. [bers02mindstorm]_ [miglino99mi
411  Mechanical looseness is a different matter; it suggests  Mechanical looseness is a different matter; it suggests
412  the following design rules:  the following design rules:
413    
414  - No frictionless pins.  For controllers, the frictionless pins are next to useless  - No frictionless pins.  
415  except in special circumstances due to their looseness.    For controllers, the frictionless pins are next to useless
416    
417      except in special circumstances due to their looseness.
418    
419  - A high gear ratio right after the gear attached to the  - A high gear ratio right after the gear attached to the
420  control stick is vital    control stick is vital
421  to alleviate the looseness in gears after that.    to alleviate the looseness in gears after that.
422    
423  - Axles used in gear trains must be supported at several points,  - Axles used in gear trains must be supported at several points,
424  far enough from each other.    far enough from each other.
425    
426  - All moving  - All moving
427  joints should be designed    joints should be designed
428  symmetrically, using e.g. 3-long pins with friction.    symmetrically, using e.g. 3-long pins with friction.
429  This is similar    This is similar
430  to taking the numerical derivative of a function    to taking the numerical derivative of a function
431    
432  .. raw:: latex  .. raw:: latex
433    
434     $f(x)$     $f(x)$
435    
436  at    at
437    
438  .. raw:: latex  .. raw:: latex
439    
440     $x$     $x$
441    
442  as    as
443    
444  .. raw:: latex  .. raw:: latex
445    
446     $(f(x+\epsilon/2) - f(x-\epsilon/2)) / \epsilon$     $(f(x+\epsilon/2) - f(x-\epsilon/2)) / \epsilon$
447    
448  instead of    instead of
449    
450  .. raw:: latex  .. raw:: latex
451    
452     $(f(x+\epsilon) - f(x)) / \epsilon$     $(f(x+\epsilon) - f(x)) / \epsilon$
453    
454  Even if it is a horrifying thought to LEGO purists, bricks  - Even if it is a horrifying thought to LEGO purists, bricks
455  can be glued together to obtain an even sturdier structure.    can be glued together to obtain an even sturdier structure.
456  However, this is seldom necessary.    However, this is seldom necessary.
457    
458  Handles  Handles
459  -------  -------

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