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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. |
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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. |
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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... |
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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 ;) |
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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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