Subject:
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Re: WWW spider
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Newsgroups:
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lugnet.robotics
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Date:
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Tue, 9 Dec 2003 10:49:50 GMT
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Viewed:
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3773 times
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hi
i just developed this sequencer
DL
http://www.brickshelf.com/gallery/pixsrv/Ideas/pneumatics/pseq01.gif
maybe there is no purpose for this mechnism :)
it shows 2 things
1. even small and simple changes in the circuit make it a little bit
complicated :)))
2. it can be done :)
it's just a first trial
i'll work on the next "functions"
and here goes my answer to your post....
----- Original Message -----
From: "Kevin L. Clague" <kevin_clague@yahoo.com>
Newsgroups: lugnet.robotics
Sent: Monday, December 08, 2003 4:57 PM
Subject: Re: WWW spider
> A common method used in the past was to use a central pneumatic timer • circuit
> that control the muscle pistons and make them move. This is what Doug • Carlson
> did in his beatiful and ground breaking pneumatic hexapod:
>
> http://www.visi.com/~dc/hexapod/index.htm
yes it's very good moc
i'm far far away from mocs like this
> The central timing circuit feeds the muschle pistons in the hips and legs. • One
> downside to this is that the timing circuit and its piston switching is
> independent of the muscle expansion/contraction rate of the legs and hips. • Doug
> had to make sure that the load on the timing pistons was greater than the • load
> on the legs or hips. This way Doug made sure that the legs and hips • always hit
> their expand/contract limits. The downside to this is that the heavy load • on
> the timing circuit means his hexapod had to have high pressure to walk.
>
> I tried using this technique on some designs, but didn't like the result.
in some aspects my idea also needs heavy load :(
> My strategy for making sure the pistons hit their limits is to make the • muscle
> pistons also play the role of timing pistons. Quad 242 has a total of 10
> pistons. Eight are both muscle and timing pistons (which is why they all • have
> switches used to instrument their state). Only two of the pistons are • timing
> only.
>
> When you "clear" the pistons to create alternate behavior you'll have to • decide
> whether you really want to change the muscle/timing system's state, or • simply
> ignore the switch outputs of the hung leg and instead use alternat values • to
> pass into the state machine. It sounds like the second plan might be
> inexpensive.
clear clears timing and muscles... i have to think...
what would be simpler to create
> Expanding my sequencer design methodology to full blown state machines • will be
> interesting.
it will need tones of valves and pistons
because every clear will probably need 1..2 pistons and 3..5 valves
it will be veeeeery complicated and it will be a lot of fun
> > the same is with my new hexapod
> > i want to do all movements from one motor which will rotate in one • direction only :)
>
> Will you have two groups of three feet, where the two feet groups are 180
> degrees out of phase?
yes 2 groups with 3 legs in a group
but there will be no pneumatics
just levers and gears :)
pixel
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Message has 1 Reply:
 | | Re: WWW spider
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| (...) It is a very cool mechanism. Your circuit can change from a 3 piston timer to a four piston timer, right? Kevin (23 years ago, 9-Dec-03, to lugnet.robotics)
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Message is in Reply To:
| | Re: WWW spider
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| (...) Good luck! I look forward to it. (...) Hmmmmm.... I wondered if you might be thinking of this. A common method used in the past was to use a central pneumatic timer circuit that control the muscle pistons and make them move. This is what Doug (...) (23 years ago, 8-Dec-03, to lugnet.robotics)
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