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In lugnet.technic, Tobbe Arnesson wrote:
> In lugnet.technic, Kevin L. Clague wrote:
> > I got a new web site with plenty of room, so I've uploaded Quad242 movies.
>
> Cool!
Thanks Tobbe!
>
> Would it benefit from turntables between the feet and legs?
>
> These turntable 2 x 2:
> http://peeron.com/inv/parts/3680c01
>
> or these turntable 4 x 4:
> http://peeron.com/inv/parts/3403b
>
> Looks like it looses alot of traction, perhaps if the foot could remain more
> still it would be better?
How would turntables help the design? Right now the whole thing is studless
except for the feet. To use the studly turntables would require major framework
redesign (not that that is a bad thing :^)
You are right it is not very efficient. Quad242 was primarily an excersize in
pneumatic circuit design. Very few walkers ever have their feet have changing
phase relationships. Typically they have static phase differences of 180
degrees (or 90 degrees for some quads). I've used differentials to get dynamic
phase change, but this is my first time for pneumatics.
The current leg design would work better on a hexapod. The feet could be points
on the ground, instead of the big plates. Extending the pneumatics to Hex363
would be (will be) very simple. I've already ordered up a bunch of those rubber
tipped competition arrows for hexapod feet.
Currently the feet have to be as big as they are to compensate for the fact that
there are only two feet on the ground, and that the feet turn with respect to
the diagonal between the feet in a pair. Making the legs longer, so that the
arc length of the horizontal sweep was longer, might improve things a bit. I
think that converting the leg sweep to a vertical plane would help efficiency,
but would reintroduce gravity wells.
Leg design will be an interesting place to focus.
Kevin
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