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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Sat, 24 Apr 2004 19:31:32 GMT
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Viewed:
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8009 times
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This is a repost because FTX messed the URLs up. I'll study up on FTX when I
have more time. Larry, can you please remove the previous post that matches
this one?
Man I love building with LEGO. It is such a relaxing and satisfying hobby.
I’ve got a leg/hip mechanism with three points of articulation. Here is a
picture of the expected sequences.
http://www.kclague.net/SSCorpion/ssclagorpion_seq.JPG
The top four pictures are the sequence for walking forward. The first two
pictures are the leg down striding from front to back. The last two pictures
show the leg recovering.
The bottom row of four are the sequence for walking sideways. The first to
pictures are the leg down, striding forward and sideways. The last two pictures
show the leg recovering.
Looking at the picture as columns, notice that the first and last columns are
identical. Only the middle two are different, when walking sideways, we’ll swap
the sideways articulation for the hip sweep articulation using pneumatic
multiplexors.
The middle articulation point has been improved so that the stresses and strains
are *not* going throught the switches.
Here are some individual pictures as well.
http://www.kclague.net/SSCorpion/P4210001.JPG
http://www.kclague.net/SSCorpion/P4210002.JPG
http://www.kclague.net/SSCorpion/P4210003.JPG
http://www.kclague.net/SSCorpion/P4210005.JPG
http://www.kclague.net/SSCorpion/P4210006.JPG
One thing to notice is that the actual direction of the sideways motion is going
to be forward and sideways or backard sideways, depending on the hip sweep
positioning. With two hip pistons we could have a three position hip sweep, but
this would be that much more *stuff*.
Obviously much of the design can be modified (mutated) for better looks.
Scorpion’s legs are much more of an arch shape, so rearranging the shape so that
the leg comes out of the hip going up, then curving back down will look more
realistic. I think that for sideways walking though, the last leg segment needs
to be veritcal.
Feedback?
Kevin
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Message has 3 Replies:
 | | Re: SSClagorpion
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| Wow, coolness. This is a good day! The leg is comming along nicely. Kevin, thank you for posting your progress. This is great. e (20 years ago, 24-Apr-04, to lugnet.technic)
| | | Re: SSClagorpion
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| In lugnet.technic, Kevin L. Clague wrote: ... (...) ... (...) I notice that the cylinder with the weight on it is the vertical one in the middle, and that it's only a third of the way from the hip to the knee. Is one cylinder going to be enough to (...) (20 years ago, 24-Apr-04, to lugnet.technic)
| | | Re: SSClagorpion
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| (...) Like Mark said, there's going to be quite a bit of weight on the main cylinder. That's where you're planning on having several cylinders to hold the weight, right? So, you're looking at about 5 per leg, 8 legs, or 40 cylinders? (plus other (...) (20 years ago, 26-Apr-04, to lugnet.technic)
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