Subject:
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Re: SSClagorpion
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Newsgroups:
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lugnet.technic
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Date:
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Wed, 14 Apr 2004 19:22:22 GMT
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Viewed:
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7543 times
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In lugnet.technic, Kevin L. Clague wrote:
> In lugnet.technic, Steve Hassenplug wrote:
> > In lugnet.technic, Kevin L. Clague wrote:
> > > This will be interesting because it is my first partner build.....
> >
> > > 1. Typically they walk forward with two groups of four legs.
> > > 2. Turning is done by using a different sweep, primarily with the front two
> > > and back two legs.
>
> With four polarity reversors (16 pneumo switches), we can make it walk
> forward, backward, turn right or left. If we used more polarity reversors we
> could make one side walk forward, while the other side turns, leading to a
> curved walking path.
>
> > ...
> > > Two groups of four legs is a simple extension to hex242 and hex363.
> >
> >
> > Will this type of design allow it to turn in place, or can it only turn while
> > walking forward/backward?
>
> All of the above.
>
> >
> > I think it should be able to turn in place. That could mean dis-connecting the
> > legs on each side.
>
> Nope, just dilligent reversal of horizontal leg sweep.
>
> >
> > Also, moving sideways would be cool. That would mean adding a side-to-side
> > piston, to go along with the forward/back piston on each leg. Right?
>
> Yes, I think this would take a third degree of freedom in the legs.
>
> >
> > Thoughts?
>
> Plenty of them.
>
> > >
> > > The walking mechanism will be completely wired into pneumatics. For walking
> > > backwards, we can use pneumatic polarity reversors controlled by RCX/Motors.
> > > The RCX may need to know that we are in the right state before it changes the
> > > muxes, so that will take some kind of sensor.
> >
> >
> > The control could be Motor->pneumatic switch for:
> > C) Forward/Backward, Stop/Go, Same/Opposide (legs on both sides go same
> > direction or opposite direction)
>
>
> We have to use polarity reversors in pairs. If we reverse the leg sweep, by
> swapping pressure hoses, then we need to swap the AND gate outputs (two
> pneumatic switches) also.
>
> For walking backward, we reverse *all* the leg sweeps, and reverse the output of
> the sweep complete AND chains. This requires one motor to flip these two
> reversors.
>
> For turning, we reverse *half* the leg sweeps, and reverse the AND gate outputs
> for the same pistons. We can hose things together so we can use only one
> reversor for this. So turning requires one motor to flip these two reversors.
>
> Since you want to stop, you probably want to use a motor and a single pneumo
> switch to the *off* position.
Ok, so I'm thinking about motors to flip pneumo-switches. Each of these may be
one or more switches, all activated at the same time.
1) Switch for Start/Stop (on/off) When this switch is "on" the scorpion will be
walking. (legs going up/down + some other direction). This switch will activate
all eight legs.
2) Switch to select forward or backward for left legs.
3) Switch to select forward or backward for right legs.
4) Switch to select forward/backward OR side-to-side for left legs.
5) Same as 4 for the right legs.
4&5 are optional, depending on if it CAN go sideways.
Is that right for basic operation?
I'm assuming a bank of legs (right or left) can change sweep direction, but they
will still move up/down when ever it's walking.
Steve
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Message has 1 Reply:
 | | Re: SSClagorpion
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| (...) Yes. (...) No. (...) No (...) No. Ignoring side walking for a moment..... 1) One motor to turn a single switch on/off. This allows or prevents walking. 2) One motor to flip 8 switches. This one controls walking vs. turning. 3) One motor to (...) (20 years ago, 14-Apr-04, to lugnet.technic)
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Message is in Reply To:
| | Re: SSCorpion
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| (...) With four polarity reversors (16 pneumo switches), we can make it walk forward, backward, turn right or left. If we used more polarity reversors we could make one side walk forward, while the other side turns, leading to a curved walking path. (...) (20 years ago, 13-Apr-04, to lugnet.technic)
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