Subject:
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Re: Pneumatic hexapod omni-Directional 2 (repost)
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Newsgroups:
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lugnet.technic, lugnet.robotics
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Date:
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Mon, 2 May 2005 16:02:45 GMT
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Viewed:
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4456 times
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In lugnet.technic, danny staple <orionrobots@gmail.com> wrote:
>
> That is awesome. Could you put a vid of it in action. I love the style
> - it is functional, but equally stylish - the way you have arranged
> the cabling makes it look really something. I can really imagine that
> as a spider tank model looking rather fantastic.
>
> Could you do a pneumatic logic diagram of it? There are so many
> connections there - I am pretty bewildered after trying to follow what
> went where - I imagine it is segmented, and with a couple of sections
> - each leg is basically the same in relation to the previous leg (or
> another leg depending on the gait set up).
>
> Anyway - thoroughly amazed at it!
> Danny
Hi Danny,
Thanks for the feedback! Before I dig up a circuit diagram, I'll show you the
timing diagram for my original hexapod, hex363:
http://www.brickshelf.com/cgi-bin/gallery.cgi?i=698017
Hex363 can only walk forward, but has a hexagonal body. It gets its name
based on the sequence of the feet and when they touch the ground. Here is the
sequence:
A. Start with all six feet on the ground.
B. Lift three backward swept feet using large pistons B,C,D
C. Sweep the legs (grounded feet backward, up feet forward) using I,J,K,L,M,N
D. Place all feet on the ground using large pistons B,C,D
E. Lift three backwards swept feet using large pistons using pistons F,G,H
F. Sweep the legs (grounded feet backward, up feet forward) using I,J,K,L,M,N
G. Place all feet on the ground using F,G,H
H. Repeat
PhD2 uses the exact same method, except that it can reverse the sweep
direction of any given leg. Which allows leg groups (three legs per group) to
switch from walking to turning and back. With six legs, each with two possible
sweep directions, you can configure the legs in one of 64 possible combinations.
Unfortunatly with that much pneumatic hardware, there are reliability
problems, where pistons and or switches can leak a bit and stall the process.
It does work, but it is very slow.
Here is a discussion on how I do my pneumatic sequence designs.... Circuit 7
describes how I designed my pneumatic quadraped. It is easily extended to make
a hexapod or octopod walker.
Kevin
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