Subject:
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Re: What are you making?
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Newsgroups:
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lugnet.robotics
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Date:
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Mon, 9 Nov 1998 07:21:10 GMT
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Original-From:
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Doug Carlson <dcarlson@%StopSpam%net-info.com>
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Viewed:
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2756 times
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Doug Carlson wrote:
> > Hello folks, time to de-lurk for a few minutes ...
>
> I've been tweaking the mechanical details of a syncronous-drive robot base
> that I began tinkering with about a year ago. The unit presently has four
> wheels
> that are driven by one Technic motor and steered syncronously by a second
> Technic
> motor. This enables the chassis to remain oriented in the same direction and
> yet travel
> in any direction with zero tuning radius. I used four of the large turntable
> elements to
> mount the drive wheels. The turntables are inverted from their normal
> orientation
> to use the large gears for steering. The wheels are driven by a vertical axel
> though
> the center of each turntable with 12T bevel gears driving the wheel-axle. Each
> wheel
> is also offset from the center of its turntable so that rotating the turntable
> only causes
> the wheel to travel in an arc around the same spot. I've driven just the
> steering motor
> and the base only wiggles a small amount as all four wheels run in circles
> below. :-)
> It also has angle sensors
> on each drive system to keep track of distance and direction. This only leaves
> one sensor
> port open on the RCX without multiplexing of some type so I'm still not sure
> where that's headed.
> One possibility is a turret that is driven off the steering system with a light
> sensor on it to
> "see" things in it's path. I've tried using the light sensor and touch sensor
> together on the same
> input port with good results so I could add touch sensors to the main chassis
> also.
> This is all still in the hardware stage but the results so far are quite
> encouraging. :-)
> I'll put some images on my web page soon for those more curious about the
> mechanical
> configuration.
>
> -- Doug
>
> Doug Carlson
> dcarlson@net-info.com
> http://www.net-info.com/~dcarlson
Pictures are now up on my web page near the bottom - just look for the RCX. :-)
The base works quite well. I used NQCC to program the RCX and it now runs in almost
perfect squares. Really cool.
I'll have to do more with it later but this was a first stab at using NQCC (many
thanks to Dave Baum for this gem).
-- Doug
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Message is in Reply To:
 | | re: What are you making?
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| (...) about (...) Cool :) It also going to give you a different sort of coordinate space and mapping when it comes to the software. Something like rotate 37 move 300 rotate 60 move 400 etc... Have you a way of measuring absolute rotation? or is it (...) (26 years ago, 7-Nov-98, to lugnet.robotics)
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