Subject:
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RE: an idea, can someone tell me if this is possible/been donebefore/etc?
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Newsgroups:
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lugnet.robotics
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Date:
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Tue, 2 Dec 2003 21:20:51 GMT
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Original-From:
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Rob Limbaugh <RLIMBAUGH@GREENFIELDGROUP.saynotospamCOM>
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Viewed:
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718 times
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<SNIP>
> With regard to obstacle detection for legs, I was playing
> around with various ways of measuring the increased torque a
> motor puts out in a stalled condition. I was thinking of a
> spring (ie rubber band) loaded co-axial ratchet/cam that
> would hit a switch to tell the robot the leg was blocked and
> it needed to be put down now. That way it would work
> irrespective of the direction of translation (things can
> block the leg both ways).
Look up Tri-Star Wheel. Instead of driving wheels, drive gears that
move legs (or pneumatic pumps).
Remember that a Tri-Star Wheel uses a differential. When the input
shaft is turned, it spins the body of the differential which turns the
individual wheels in the Tri-Star configuration. When a wheel hits an
obstacle, it stops the differential body from rotating so the output
shaft begins to rotate which spins the entire Tri-Star wheel.
If the differential body was connected to the drive train that swings
the leg forward/backward and the output shaft was connected to the
lift/lower drive train, then when the leg stalls (forward/backward) the
system would engage the lift/lower drive train.
Hopefully that made sense...
- Rob
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