February 23/2000 - Build Update 4

A short update this time, but some cool things nonetheless. I've been busy with other persuits (see below) so not much work has been done. I'm also still de-bugging my PIC program that I wrote to control the linear actuators. Having some problem with the built in A/D. Hopefully I'll get that worked out pretty soon. The robot is really starting to take shape now, which reminds me, I should buy a scale soon. Later. - Derek.

Suggested Listening During Late February Robot Building:
The Clash - London Calling
The Mr. T Experience - "revenge is sweet, and so are you"
Jon Spencer Blues Explosion - Orange
An animated GIF of the legs a struttin'. The system seems to be working well, at least on the side that is done. Click on the picture for a huge (700k) full size 640x480 animated GIF. I should really get a video camera though.
The robot at rest. I built a wooden platform to fit in my vise to hold up the frame, which makes it easier to move around then simply clamping it in the vise on its own.
You can see the sprocket and chain layout here. All legs are frequency locked, so the robot will always maintain an stable tri-pod gait. To turn, the robot's legs change geometry, changing their stroke length...
As shown here, when the ground bar is raised up by the linear actuator, the legs' four bar mechanisms change shape creating a shorter coupler path and leg stroke, causing the robot to turn. Hopefully ;)
My new car! A 72 Datsun 510 wagon. Yes, I know it looks rough. I didn't pay much for it though. It will become my new robot hauler -- as I bought a wagon for this very purpose. I'll put some more shots up once I get it home (it's in Seattle), wash it, and put some new wheels on it.
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On to next update

©2000 Derek Young