Subject:
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Re: Adder/Subtractor revisited
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Newsgroups:
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lugnet.robotics
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Date:
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Sat, 6 Feb 1999 04:09:42 GMT
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Viewed:
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1045 times
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That sounds very interesting. I hope to see some diagrams or photos soon...
Your approach solves the biggest problem introduced by the A-S drive, that
of insufficient torque when driving tracks. Two motors is the way to go for
tracks.
--
SeeYa !
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Jim
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Hello... Is this thing on ?
David Harry wrote in message ...
> In article <36B6F795.4B9310A6@nada.kth.se>, johannes@nada.kth.se says...
>
> My current design uses independent motors to drive
> each track. The two drive gear trains are also interconnected through a • single
> differential, the sole function of which is to synchronize the two sides. • Since
> the additional gearing used to drive the differential is not under any • load, it
> contributes negligibly to friction. The outer housing of the differential • is
> connected through gearing to a LEGO rotation sensor. Each track gear train
> drives one shaft of the differential. Gearing is arranged so that when both
> tracks are driving in the same direction, the two differential shafts
> counter-rotate, resulting in no net rotation of the outer housing, as long • as
> both sides are synchronized. A combintation of three RCX tasks monitor the
> rotation sensor and dynamically adjust motor power when differential • rotation
> is detected. So far, this system is working *very* well. As soon as I get
> some decent drawings done, I'll post the mechanical design. I've invested • much
> effort into optimizing the gear train design and have reached the point • where I
> don't think it can be further simplified, but I'd love to be proven • wrong...
>
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Message has 1 Reply:
 | | Re: Adder/Subtractor revisited
|
| In article <F6psw8.Bxy@lugnet.com>, cyberia@erols.com says... (...) Yes, this is the feature that really worked out well. By changing one gear (and adding appropriate number of 1/3 thickness shim plates under the motor), one can get the following (...) (25 years ago, 6-Feb-99, to lugnet.robotics)
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Message is in Reply To:
| | Re: Adder/Subtractor revisited
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| In article <36B6F795.4B9310A6@n...a.kth.se>, johannes@nada.kth.se says... (...) Ingenious as it is, this thread and previous similar ones have pointed out the primary problems with the A-S drive approach: power transmission through the LEGO (...) (25 years ago, 6-Feb-99, to lugnet.robotics)
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