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Cost should also be figured in when working on the initial phases of design, though for some applications cost is less important. Each actuator adds its own cost, its associated electronics, the parts that the actuator moves or uses, and the cost of the added debug time. The designer or design team should seriously consider having a slightly less capable platform or manipulator and leave out one or two actuators, for a significant increase in reliability, greatly reduced debug time, and reduced cost.

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s mentioned in One, electric motors suffer from a problem that must be solved if they are to be used in robots. They turn too fast with too little torque to be very effective for many robot applications, and if slowed down to a useable speed by a motor speed controller their efficiency drops, sometimes drastically. Stepper motors are the least prone to this problem, but even they loose some system efficiency at very low speeds. Steppers are also less volumetrically efficient, they require special drive electronics, and do not run as smoothly as simple permanent magnet (PMDC) motors. The solution to the torque problem is to attach the motor to some system that changes the high speed/low torque on the motor output shaft into the low speed/high torque required for most applications in mobile robots. Fortunately, there are many mechanisms that perform this transformation of speed to torque. Some attach directly to the motor and essentially make it a bigger and heavier but more effective motor. Others require separate shafts and mounts between the motor and the output shaft; and still others directly couple the motor to the output shaft, deal with any misalignment, and exchange speed for torque all in one mechanism. Power transfer mechanisms are normally divided into five general categories: 1. 2. 3. 4. 5. belts (flat, round, V-belts, timing) chain (roller, ladder, timing) plastic-and-cable chain (bead, ladder, pinned) friction drives gears (spur, helical, bevel, worm, rack and pinion, and many others)

has ordered more than a million pairs and expects to sell $200 million worth. That s comparable to what Nike did with the bestselling Air Jordans. 2. Shift the argument. Another good value strategy in a pricing battle is to introduce the concept of total cost as opposed to initial cost. In some categories, the costs you incur after you buy a product can be substantial. If your product performs better after the purchase, you might be able to build a cost-of-ownership rather than a cost-of-purchase argument. A variation on this is the concept of longevity. An expensive product, such as a Mercedes, can have a high price, but it will last far longer than your average car. That s a nice rationale to get customers over what could be a bad case of sticker shock. A similar strategy can be used to sell expensive beds such as Duxiana, which go for $3,000 or more. The concept: you spend a lot more time in your bed than in your expensive car. In fact, you spend about 40 percent of your life in bed. So why scrimp 3. Add more. There are times when value is a sum total game. If you can add items to your offer, people will begin to feel that they are getting more for their money. Some years ago, we were asked about

communication with AL_PA hex 00 even though it actually may have another value for its AL_PA Fabric port (F_Port) A port on a fabric switch to which N_Ports may be connected directly An F_Port uses the address identifier hex FFFFFE Frame The basic unit of communication between two N_Ports Frames are composed of a starting delimiter (SOF), a header, the payload, the cyclic redundancy check (CRC), and an ending delimiter (EOF) The SOF and EOF contain the special character and are used to indicate where the frame begins and ends The 24-byte header contains information about the frame, including the S_ID, D_ID, routing information, the type of data contained in the payload, and sequence/exchange management information The payload contains the actual data to be transmitted and may be 0 to 2,112 bytes in length The CRC is a 4-byte field used for detecting bit errors in the received frame.