Subject:
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Re: Walker useing new leg design
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Newsgroups:
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lugnet.org.ca.rtltoronto
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Date:
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Tue, 23 Oct 2007 04:26:47 GMT
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Viewed:
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16879 times
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Brian Davis wrote:
> In lugnet.org.ca.rtltoronto, Chris Magno wrote:
>
> > Mainly because of Brian's "whining" ;)
> Ha! That wasn't whining, that was just idle wishing! You wait 'till
I've got up
> a good head of steam, and *then* I'll show you some whining! ;-)
>
oh yay - next year will be no Cicada's but a room full of Brian whining.
I'd like to sign up for brickworld now please. (1)
> > I've thrown together "quasi-instructions" on how to
> > make one leg using mainly 4's 6's and 8 long axles.
>
> Thank you! That's actually nice photodocumentation, and I'll try to put one
> together based on that. I wonder if for larger structures you might need to go
> to beams for some of the connections that are under tension during parts of the
> cycle.
I think you need to make one leg - you will be shocked at how well it
preforms. The short answer is no - no need for beams in this leg design.
just the beauty of parallel linkages.
check out philo's gif of the leg motion (the "oval) at the bottom
http://www.philohome.com/theo/tj.gif
the leg is only "taking weight" when the foot is on the ground, and
then, thats when the "back" of the leg is more or less in a line. All
the weight is transfered along the length of the axles "vertically" to
the one point where the entire leg is attached to the frame.
> > Solar cell's NOW thats a neat idea, and a great way
> > to recreate the "life" that Theo Jansen envisioned
> > for his beasts.
>
> I've been playing with the solar cells and the two capacitors I've got - the
> combination runs an unloaded motors for a good long time in and out of the sun.
> The question is how low-energy the system can be made.
Now we get to the real beauty of Theo Jensons designs.
this is a good article:
http://www.artificial.dk/articles/theojansen.htm
near the bottom, you see him pulling his creation along. that thing
weighs in at over 2 tons, and can be moved with air, or a human pulling it.
Theo Jansen, keeps referring to his beasts and the evolution of the wheel.
many of his "walkers" are so... ummm, "balanced," they can be pushed or
pulled, and the friction of one leg on the central cam, turn the entire
thing. thus, like a wheel, you can just lightly push it to get and keep
it going.
Theo Jansen's creations,
> and yours, seem to do a wonderful job of moving horizontally without moving the
> center of mass up or down, which is very promising.
Again, thats the neat-o factor of these linkages/leg design. The "oval"
motion of the foot "path," combined with multiple legs, ensures a
"level" frame, and thus a smooth gait.
What happens if you speed up
> the driving axles (say, a worm-to-8t instead of a worm-to-24t)?
all kidding aside, the answer is... the robot walks faster. Speed does
not affect any portion of this design. the lack of official lego wd-40
or grease means I prefer a more "torquey" motors to overcome the natural
friction of the ABS.
keep in mind, this design is powered by wind, so it dont take a lot of
energy to move. that being said, there is a load on the motors, so i
cant say if solar would work in this instance. these motors need 9Vdc,
and a goodly amount of amps that the solar cells, and capacitors just
cant produce.
Chris
1. Didnt that name come from the co joining of the words brick? and World?
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Message has 1 Reply:
Message is in Reply To:
 | | Re: Walker useing new leg design
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| (...) Ha! That wasn't whining, that was just idle wishing! You wait 'till I've got up a good head of steam, and *then* I'll show you some whining! ;-) (...) See, now *there's* a practical way to to shut me up - just send my the parts :-). I'm (...) (17 years ago, 22-Oct-07, to lugnet.org.ca.rtltoronto)
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