Subject:
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Re: Thoughts on Turning
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Newsgroups:
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lugnet.robotics
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Date:
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Mon, 25 Jan 1999 14:19:53 GMT
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Viewed:
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983 times
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On Mon, 25 Jan 1999 01:08:50 GMT, "Blake Coverett" <blake@bcdev.com>
wrote:
> Independantly driven rear wheels with free spinning front wheels, all four
> using the largest spoked wheels from the MindStorms kit. This allows fast,
> smooth forward and reverse motion. To turn the robot stops and pivots down
> a fifth smaller wheel from the middle of the under-carriage which rotates at
> 90 degrees to the main wheels. This fifth wheel is mounted forward of the
> center of gravity to ensure it tips back onto the powered rear wheels and
> it's axle goes directly through a rotation sensor (the improvised sort from
> the fiber-optic unit) which allows me to determine the angle of the turn
> with a good accuracy.
It sounds liek a very nice way of doing things. Does it require three
motors tho? One forward reverse, one left right, and one for
lowering/raising the 5th wheel? I could think of a way to do it with
one motor for left/right _and_ forward/reverse, I think, so that is
only takes two motors total. But that would be harder to construct.
Maybe with an 8880 gearbox :)
>
> The obvious con with this solution is the need to stop completely to turn.
> Getting this to work mechanically was much harder than the other options as
> well, but in the end isn't any more bulky or less strong than the rack and
> pinion version.
Do you have any pictures posted anywhere? It sounds like a very nice
solution, precisewly because it's so different :)
Jasper
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Message has 2 Replies:
 | | Re: Thoughts on Turning
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| I made a wheel that could roll sideways. That way you don't have to raise and lower the turn wheel. Check out "Curvy1" at (URL) It needs some refinement, but the idea works. Bill Jasper Janssen wrote in message <36ac7ccf.83855140@l...et.com>... (...) (25 years ago, 25-Jan-99, to lugnet.robotics)
| | | Re: Thoughts on Turning
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| Jasper Janssen <jasper@janssen.dynip.com> wrote in message news:36ac7ccf.838551...net.com... (...) The first version simply dragged the fifth wheel and flipped up onto it when the unit reversed for a moment, this worked but obviously prevented (...) (25 years ago, 26-Jan-99, to lugnet.robotics)
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Message is in Reply To:
| | Thoughts on Turning
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| I'm one of those newly returned to lego types, drawn in by the appearance of the MindStorms kit. Being a software guy by trade, programming my creations is pretty straightforwards, but the mechanical engineering bits are stretching my brain more. (...) (25 years ago, 25-Jan-99, to lugnet.robotics)
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