Subject:
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Re: High Strength Powered Steerable pivot wheel
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Newsgroups:
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lugnet.robotics
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Date:
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Mon, 21 May 2001 15:39:10 GMT
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Original-From:
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Brian Alano <ALANO@KIVA.saynotospamNET>
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Viewed:
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656 times
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I'm sorry to hear that, because my design was going to use a single axle. My
plan is for an eight wheel drive, four wheel steering shrimp. Last night I
successfully prototyped a pneumatic steering system. It doesn't solve your
problem, though. It uses a single axle through the steering axis and has a
range of about 45 degrees left and right.
There are a few ways to reinforce an axle, such as stuffing it with bushings.
There was a thread about it on LUGNET a few months ago (the poster needed a
high-torque drive axle) but I can't find it now.
My prototype 'bot was a flimsy tricycle configuration with the powered and
steered wheel in front, Techno-Stuff's Dual Infrared Proximity Detector for
navigation sensory input, and a touch sensor to center the pneumatic valve
which controlled the steering. A compressor using Jennifer Clark's battery box
switch-based self-regulator and Sergei Egorov's double-acting compressor
(http://www.malgil.com/esl/lego/pneumatics.html - I find it effective but
inadequately braced) was used to power the steering piston.
The steering axis is actually one-half stud to the left of the wheel's
vertical axis. I expect that to be good enough.
If there's interest, I'll post pics as soon as my new digital camera arrives.
Nickle, Steven (2511)" wrote:
> I am building a shrimp-style rover along the lines of what Mario Ferrari
> built. I uses 6 powered wheels. A pair on each side in lateral boggies,
> One in the front on an articulated arm, a rear fixed to the chassis.
>
> Problem is coming up with a strong enough steerable joint. A single axle is
> not strong enough to hold up as the rover climbs or descends steps. The
> wheel most pivot on its vertical axis. I am aiming for a five position
> control: Straight ahead, 45 left and right, and 90 left and right.
>
> Any ideas?
>
> Check out the following links for the design concept:
>
> http://www.geocities.com/mario.ferrari/shrimp/shrimp.html
>
> http://dmtwww.epfl.ch/isr/asl/systems/shrimp.html
--
----------
$50,000 for Jill Behrman
http://www.indiana.edu/~alumni/iuaa/jillbehrman/
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Message is in Reply To:
 | | High Strength Powered Steerable pivot wheel
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| I am building a shrimp-style rover along the lines of what Mario Ferrari built. I uses 6 powered wheels. A pair on each side in lateral boggies, One in the front on an articulated arm, a rear fixed to the chassis. Problem is coming up with a strong (...) (24 years ago, 21-May-01, to lugnet.robotics)
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