Subject:
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Re: SSClagorpion
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Newsgroups:
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lugnet.technic
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Date:
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Mon, 10 May 2004 17:08:52 GMT
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Viewed:
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16536 times
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In lugnet.technic, Kevin L. Clague wrote:
> I learned is that the locking leg works, and that I need to reconsider what it
> takes to make it stay upright based on the body shape, the leg shape, length
> *and* it's inherit strength. The legs will be much more vertical that the ones
> so far, decreasing the leverage when weight bearing, and easing the forces on
> the lock mechanism.
I don't think we need to worry TOO much about easing forces on the lock. My
testing shows it works quite well. But there are many stresses on other parts
as the legs get longer, and more angled, so moving them in is not a bad idea.
>
> I'm going to start with the compressor. Steve, I'm going to make the compressor
> using RC Racer motors. They provide the best power for compressing the air.
> This means that we'll need a battery box or two. If we want the RCX to control
> the motors, then we'll need a motor and electrical polarity reversor(s).
I don't think the RCX needs to do anything with the compressor. That should be
all automatic.
However, I must tell you (from experience) that two RC Racer motors running
under load will cause the thermal resistor in a single battery box to heat up
and shut off the power in less than a minute.
So, I recommend using 1 battery box per RC motor.
>
> I will consider sideways walking as still in and forget about part count right
> now.
Do real scorpions actually walk sideways? (my wife ask me this question)
> So, pack together a spybot, two RCX's, a compressor, pneumatic multiplexors and
> their controlling motors, and battery box(es) and polarity reversors and their
> motor into the torso. OK......
>
> I also need to make the batteries easily replacable.
While it's good to make the RCX batteries easily replaceable, they won't be
driving very much, so replacement shouldn't be a big problem. However, the
battery box(es) will need to be replaced.
> On the topic of the pneumatic "stop/go" switch.....
>
> If we have a pneumatic on/off switch between the compressors and the rest of the
> pneumatic circuit, then when we flip off the pressure, we have no idea which of
> the walking states we're in, or possibly we're transitioning from one state to
> the next. If we leave the beast on for 10 minutes, the pressure in the legs
> will drop due to leakage. The compressor cannot help with this leakage, because
> it is isolated from the rest of the circuitry. We run the risk of falling down.
>
> I propose that our on/off switch(es?) be placed in circuit in a way that stops
> the pneumatic state machine from transition to the next state. This way when
> the pressure drops due to leakage, the compressor will kick in and bring the
> pressure back up. With this, we introduce the ability to add a hold to any
> state.
With the leg lock, I don't think loosing pressure will cause a problem.
However, as you said, it could easily be in an undefined state when turned off.
Personally, I really like the idea of just controlling the state machine. Your
drawing seems to show six states. You said there are two pistons, so that
sounds like there are four possible states. (not counting transitions) No, I
count six. Anyway...
If we put sensors on the switches, can we detect which state it's in? I still
like controlling the state machine, but this would give more info to the RCX,
and possibily eliminate the need to have a "hip" sensor.
Steve
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Message has 1 Reply:
 | | Re: SSClagorpion
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| (...) <snip> (...) I was assuming this. (...) I've had difficulties finding videos of scoprions ambulating. I keep getting hits on "Scorpion King". Ack (...) I agree. (...) As far as the legs go, there are six states. But there are two timing (...) (20 years ago, 10-May-04, to lugnet.technic)
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Message is in Reply To:
| | Re: SSClagorpion
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| (...) Isn't saying is name *always* in vain? LOL! (...) Right. I agree totally. As I said in a previous post, I'm starting over. What I learned is that the locking leg works, and that I need to reconsider what it takes to make it stay upright based (...) (20 years ago, 10-May-04, to lugnet.technic)
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