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Excellent job, Calum. Lots of neat pictures and useful information. I'm sure
you will really put rtltoronto on the map after this talk!
some of my thoughts... Organic design? That slide confused me a bit. I guess
I can see your point about needing to do complete rebuilds every now and
then. Its amazing how changing one silly little thing can effect the entire
robot.
About gears and backlash, you might want to point out that it is a necessity
for gears to run freely. The tighter they mesh, the more friction there is,
so you have to be careful with this. One very simple software solution is to
always approach targets from the same direction. Then you know the backlash
is not an issue. anyway, I have a different antibacklash gearing setup you
might want to mention:
http://www.ecf.utoronto.ca/~stehlik/images/robots/windmill/steer2.jpg
By using counter rotating worm gears, it allows finer adjustments to be made.
Also, another important point about gears and friction is that it depends
heavily on the type of gears used. I was asking one of the engineers at my
job last summer about different gear types. He said spur gears (just regular
gears) are the most efficient, and worm gars are the least efficient. For
this reason, he was able to get a much higher efficiency with a complex 5
stage gear reduction using spur gears than a simple single stage reduction
with a worm gear. This is because there is so much sliding friction with
worm gears. So, worms are great for huge reductions in compact spaces, but
they are terrible for efficiency.
About motors, maybe you should say that micromotors are generally useless
except for very low torque applications, such as grippers:
http://www.ecf.utoronto.ca/~stehlik/images/robots/coloursorter/cs6.jpg
Finaly, I think one of my favourite gripper/lifter mechanisms comes from Ben
Williamson:
http://unite.com.au/~u11235a/lego/fetchbot/index.html
This shows very clearly the principle behind the gripper Dave used for
Blockstacking 1. Maybe Ben would let you use the pics and animation?
Again, good work! I love the sketches!
Rob
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Message is in Reply To:
 | | Brickfest talk
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| Hi folks, Here's a draft copy of the Brickfest "Building Competition Robots" talk I'm scheduled to give. (URL) a bunch of placeholders and graphics missing which need to be put in, and a few more topics needed to be fleshed out, but there's 80% of (...) (22 years ago, 4-Jul-02, to lugnet.org.ca.rtltoronto)
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