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A Killough platform is a triangular vehicle with three “omni-directional” wheels
that can move or rotate in any direction. Here is my version using Power
Functions motors. The obvious arrangement is to have one motor for each wheel.
Instead, for an additional challenge, I wanted one motor to drive forward or
backward, one motor to drive sideways (at 90 degrees to the first) and a third
motor to rotate on the spot. This is converted to the correct motion of the
wheels using an arrangement of four differentials (similar to an add-subtract
mechanism but a little more complicated - is there a simpler way?), so any of
these motions can also be performed simultaneously.
http://www.brickshelf.com/cgi-bin/gallery.cgi?f=284996
It works reasonably well. Inevitably it is a little bumpy because of the
wheels. Large power functions motors might work better, but of course they are
harder to mount.
Comments welcome. Video and more details of the mechanism to follow.
cheers, Alexander
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Message has 3 Replies:
 | | Re: Killough platform with power functions
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| Very, very impressive! Am I the only one who always feels like a simpleton when some of the technique/motor lads post? 'Just for the challenge...' ; ) Oh well, we can't all build castle : ) Great work and I love the rotating of three sets of wheels (...) (17 years ago, 14-Nov-07, to lugnet.technic, FTX)
| | | Re: Killough platform with power functions
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| Thank you very much for the nice comments! Here at last are some videos of the Killough platform in action (sorry for poor quality). The first three show various motions, starting with the three basic ones: backwards/forwards, sideways, and turning (...) (17 years ago, 24-Nov-07, to lugnet.technic, FTX)
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