Subject:
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(no subject)
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Fri, 11 Apr 1997 19:51:15 GMT
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Original-From:
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Phil <thehahns@nconnect.netNOMORESPAM>
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Viewed:
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1390 times
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Hi, fellow (ro)Botters!
Did anyone watch Scientific American Frontiers on Wednesday? If not, or even
if you did see it, check out www.pbs.org . PLEASE SEE IT! there's a lot of
good links, a complete transcript, and other goodies.
But now, onto my question.
I want to build a robot.
More specifically, a robot that can climb steps, and is <somewhat> tall. I
mean, about 3 feet tall. Maybe smaller, if design requires so. I realize
that the center of gravity may be a problem, but I've figured out how to get
over that one. My real problem is how to get up the steps. I've found 3 methods:
1. treads. I DON'T WANT TO DO THIS! my treaded robot I already made is so
energy inefficient!\
2. legs. A possibility, I guess.
3. tri-wheels. It looks good, but has anyone ever tried using them?
Tri-wheels are made like this. You need 12 wheels. Take 3 of them, and hook
gears up to the shafts. Find a motor that meshes with the gears. Mount these
into a triangular fashion, with the motor in the middle. When you run it,
normally, 2 wheels will be on the bottom. When the fromt wheel is hitting
something, the force, rather than pushing forward, will be applied to
turning the 3 wheels, so seebelow:
1 ==> 1| <==
2 3 ==> 2 3| // wall
1 ==> 2 1_|
2 3 ==> 3| //steps
Ando so on. Does anyone forsee any problems with this method, or have any
other ideas? Thank you, in advance.
phil
thehahns@nconnect.net
PS: sorry for such a long email!
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Message has 3 Replies:
 | | Re:
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| (...) Now _this_ is a challenge. Presumably you've read the treatment on step climbing robots in Marvin Weinsteins "Android Design" ((URL) is out of print but still in libraries. It takes a _lot_ of energy to move up stairs. Basically you robot has (...) (27 years ago, 11-Apr-97, to lugnet.robotics.handyboard)
| | | Re: your mail
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| I once saw something like this, but it was very complicated to build. There were TWO separate arrangements of your wheel descriptions, and they were hinged from a set of "hips". I believe this is because, as wheel 1 is pivotting over the front edge (...) (27 years ago, 13-Apr-97, to lugnet.robotics.handyboard)
| | | motor routines in lib_hb.c
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| Does anyone know why these eight speeds were chosen in lib_hb.c for the motors and what would happen if the code were re-written to allow any speed between 0 and 255? int _speed_table[]= { 0b00000000, /* speed 0 */ 0b00010001, 0b01001001, (...) (27 years ago, 14-Apr-97, to lugnet.robotics.handyboard)
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