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In lugnet.robotics, Philippe Hurbain wrote:
> Hello Mark,
>
> > Does anyone already have a scheme for drawing pneumatic circuits, other than
> > using text characters (which I find hard to understand!)? I see Kevin Clague
> > has a 3D approach on his Quad242 page. If anyone else has posted drawings of
> > pneumatic circuits, I'd like to see them.
>
> Maybe this http://news.lugnet.com/technic/?n=11679 can help?
>
> Cheers,
>
> Philo
Here's the drawing of the pneumatic circuit of my 4-function Pick and Place
robot:
<http://www.brickshelf.com/cgi-bin/gallery.cgi?i=1106191>
Robot pictures here:
<http://www.brickshelf.com/cgi-bin/gallery.cgi?f=82738>
The drawing should make the circuit easy to reproduce, as long as you have
enough parts! I've included a state table so you can see the relationship
between the four functions.
The arm extension is the Exclusive-OR of the wrist and grab positions, operating
twice per cycle. The grab, elbow and wrist operate in sequence, with the
extension enabling either the grab or the elbow at any one time.
This makes the circuit a building block. If more functions were added in
sequence with either the grab or the elbow and wrist, the extension would
provide enabling to one of the two sets of functions at once, toggling itself
before enabling the other set. Try applying this to another application,
thinking of a suitable substitute for the extension that has to operate twice
per cycle, with two sets of functions that each operate once per cycle. Of
course the extension substitute could, itself, be a sequence of functions.
I'm not sure whether drawing the circuit with proper mechanical symbols would
add any value, as it's probably easier to reproduce from the Lego element
representation. PLMKWYT.
Mark
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