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pic: My wheel/leg design
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Re: pic: My wheel/leg design
GREAT! :ahh: Just a thought ...
you'll need some pretty sophiticated stuff to be able to stop the robot. In the show the robot kinda turn and difts to a stop :confused: |
Re: pic: My wheel/leg design
From a more practical standpoint, if you make that entire shaft spin, you'll be putting a terribly large load on the bearings and shaft. Ball bearings are intended to support mostly radial loads. With your current design, the shaft bearing at the top would see a large thrust load, which would drastically shorten the bearing's life if you don't over-spec the bearing by a lot. Also, keep in mind that flexible shafts aren't going to transmit much torque.
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Re: pic: My wheel/leg design
i think a simple doublewishbone idea of a suspension would work just as well and simpler.
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Re: pic: My wheel/leg design
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Re: pic: My wheel/leg design
Just wondering but, could you explain how it works? It look pretty cool :)
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Re: pic: My wheel/leg design
Well the general idea is that their are four legs and the sit out at an angle from the robot. The entire leg can rotate on that gear (more symbolic of where it pivots then anything else). Also the rod is attached to that square coupler by a ball bearing and rotates. When it rotates the half sphere at the bottom acts like a wheel. Its just a conceptual design right now and not really possible due to the limits of last years kit but its a future plan. Not only could it have simple walking but the legs could start facing up and fold down to add significantly to the height of a robot. Basically I'm trying to come up with a simple walking robot that doesn't have the disadvantages of speed that most walking robots posses.
As mentioned its got a few engineering hurdles it needs to overcome but if i don't use something like this in FIRST then ill definitely do it privately because the idea has been bouncing around my head for quite some time i just never really developed it until now. |
Re: pic: My wheel/leg design
In what way does this "walk"? Iit just a wheel at the end of a shaft? Or can it also swing the shaft some how...
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Re: pic: My wheel/leg design
It "walks" by whipping around that large gear the shaft bracket is attached to. Mind you, it'd walk better if the leg moved in and out as well as around or something similar. Perhaps instead of starting from scratch on both counts, you should find some simple leg joints that work for people and then figure out how to put wheels on them?
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Re: pic: My wheel/leg design
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Re: pic: My wheel/leg design
I you want to see a ton of different walking robot designs, check out this page. (You'll have to scroll down a bit.) I know that these are Lego creations, but the principles behind the walking robots can be adapted to a larger scale. IMHO, I would think that instead of rotating the entire leg around, do as Kevin Sevcik suggested, and make the legs go up and down, instead of in circles. Similar to this picture:
I know that it wouldn't be able to go up stairs, but it would have much less stress on the shafts. Also, I am curious. What is the size of your leg? ![]() |
Re: pic: My wheel/leg design
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Re: pic: My wheel/leg design
You may want to try a tri-wheel.
Essentially its three wheels centered around a point, 120 degrees apart at the center of each wheel. Two rest on the ground and all three spin. When you hit a stair well, the friction cause it to pivot around the center and climb up the step, in theory. I played with the idea but never built it, I'm gonna see if I can do it with the Vex kit I'm getting this weekend. EDIT: I added a rough sketch. ![]() |
Re: pic: My wheel/leg design
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If you are interested, here is video of a Lego Tri-Wheel robot climbing stairs: http://www.visi.com/~dc/tristar/stairs4.avi There are more pictures on this page: http://www.visi.com/~dc/tristar/ |
Re: pic: My wheel/leg design
Got whegs?
http://www.chiefdelphi.com/forums/sh...ighlight=whegs Courtesy of researchers at Case Western Reserve University in Cleveland, OH. Have fun putting wheels on the ends of these things! |
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