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 17:35:54 GMT
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Viewed:
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16579 times
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In lugnet.technic, Steve Hassenplug wrote:
> In lugnet.technic, Kevin L. Clague wrote:
<snip>
> 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 was assuming this.
> > 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)
I've had difficulties finding videos of scoprions ambulating. I keep getting
hits on "Scorpion King". Ack
> > 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.
I agree.
>
> 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...
As far as the legs go, there are six states. But there are two timing pistons
that each have to transition making a total of 10 states.
> 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.
Yes. Electrically monitoring the pneumatic switches will tell you exactly what
state you are in.... except that pistons have three states..... Expanded,
contracted, or transitioning.
>
> Steve
Kevin
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Message is in Reply To:
 | | Re: SSClagorpion
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| (...) 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 (...) (20 years ago, 10-May-04, to lugnet.technic)
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