Subject:
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SHRIMP turns!
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Newsgroups:
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lugnet.robotics
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Date:
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Fri, 3 Aug 2001 11:15:05 GMT
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Viewed:
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607 times
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I just finished my second version of SHRIMP, and with the help of you all
that suggested ideas or reported problems I was able to make it steer.
Sorry I have just two preliminary pictures, more will follow:
http://www.geocities.com/mario.ferrari/temp/shrimp_1.jpg
http://www.geocities.com/mario.ferrari/temp/shrimp_4.jpg
Main features:
- The front and rear wheel assemblies mount the motor very low, just over
the gearbox.
- There's a long (joined) axle that crosses all the body of the robot and
operates the front and rear steering together (they obviously turn
opposite). A motor controls the steering.
- The RCX has three ports connected: 1 out for the power, 1 out for the
steer, 1 in for the touch sensor that detects the central position of the
steer.
- For the robot to turn properly, the inner side wheels must be stopped as
in a skid-steer drive. This is achieved using two polarity switches operated
by the rear steering assembly. A rubber keeps them gently pulled in ON
position. The rear wheel pivoting axle as a traverse axle attached to its
top, that during turn pushes also one of the switches. Approaching about 45°
in steering angle, the switch goes off and the connected wheels stop.
- It turns well enough. During very large turns all the motors are on but
they can make with the difference in speed. In tighter turns, the inner
wheels stop and the SHRIMP turns around the midpoint of its inner side
wheels group.
- It's a bit less robust than my first version. I wouldn't suggest to make
it turn while facing complex and articulated obstacles.
- The front wheel has shorter arms to the body (12 instead 16 studs beams)
to compensate with the size of the steering system. This reduces a bit the
maximum height it can climb.
My first SHRIMP page:
http://www.geocities.com/mario.ferrari/shrimp/shrimp.html
Comments, questions and suggestions are very welcome!
Ciao
Mario
My LEGO web page: http://www.geocities.com/mario.ferrari/lego.html
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Message has 2 Replies:
 | | Re: SHRIMP turns!
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| Very nice. My SHRIMP development is on hold. All my legos are packed and in storage as we are moving. You have inspired me to get them out of storage soon. (...) (24 years ago, 3-Aug-01, to lugnet.robotics)
| | | Re: SHRIMP turns!
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| From: "Mario Ferrari" <mario.ferrari@edis.it> (...) Wow - nicely done! I sure would like to see a .DAT of that beast! Regards, Issac. (24 years ago, 3-Aug-01, to lugnet.robotics)
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