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In lugnet.technic, Kevin L. Clague wrote:
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Hi All,
I just snapped some pictures of my latest MOC. It is a pneumatic quadraped
that has an advanced walking gait made completely out of lego pneumatics.
Instant walking, just add air pressure.
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Perfect!
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Quad242’s front left and back right legs are paired together, so that they
both move up and down, as well as forward backward at the same time.
Quad242’s front right and back left legs are also paired.
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Way to go!
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My goal with this quad was to make the pneumatics sequence in a way that the
two leg pairs never transition up/down at the same time. Typically, one pair
of legs are weight bearing, and the other pair are off the ground. Quad242
transitions the non-weight bearing legs down to weight bearing, before it
takes the next leg pair off the ground. This means the body of the quad does
not raise and lower as the quad walks. Quad242 uses a six stage sequence to
achieve this walking, as shown in this picture
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Facinating!
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Quad242 starts in the upper left hand picture with all four feet on the
ground. The sequence is top row, left to right, and then bottom row left to
right. One Quad242 makes it to the lower right picture, it restarts the
sequence in the upper right picture.
Quad242 is comprised of 10 pistons, and 19 pneumatic switches.
The pneumatic circuit was designed on paper in my LEGO log book. Here is the
page. I’ll be describing these rather cryptic drawings on my web site
http://www.users.qwest.net/~kclague very soon.
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Intense!
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I also have to buy myself a camcorder so I can make movies.
More pictures of Quad242 are available
here
PLMKWYT.
Kevin
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Can I build a Mecha Sheith for it? An outer skin? Can I can I!
Question: Any entertainment for a Tail of some sort to study the effect during
articulation?
Nice work.
e
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Message has 2 Replies:
 | | Re: Pneumatic Quadraped 242
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| (...) Thanks Eric! (...) Sure! (...) I just ordered up 20 small pistons to make one that is faster. I should add head and tail. I wonder if a tail and a head can be articulated so I can reduce foot side. (...) Thanks Eric. (...) Very cool Eric! (...) (21 years ago, 27-Nov-03, to lugnet.technic, lugnet.build, lugnet.robotics, FTX)
| | | Re: Pneumatic Quadraped 242
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| (...) snip (...) I started working on articulated head and tail. Quad242 has a very large footprint, and walks inefficiently. One of the reasons for large feet is center of gravity. The center of gravity on Quad242 is just a little behind the center (...) (21 years ago, 1-Dec-03, to lugnet.technic, lugnet.build, lugnet.robotics, FTX)
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