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***eniar.solarbotics.net/papers/basic walker design
These pages are currently under construction, as is Eniar. Check back often for changes.
Goal: Mobility/Agility through motor alignment.
#1 Obstruction: Combining speed, agility, and climbing power.
Materials: two motors (parallax cont. rotation motors, 6V, 3.4kg.cm)
3, 4 and more motor walkers exist, but, dispite their much better stepping power, will be ignored as money, time, complexity, etc. are all major problems. (In other words, I'm a practically broke teenager with a couple a' motors and a dream...) With two motors, the position of each motor in relation to the ground determines the lift and thrust power of each.
For more mobility and climing power (rather than speed), the motors in this robot will be placed perpendicular to each other, one parallel to the ground (in back) and one perpendicular to the ground (in the front, to climb).
Both a microcore and a master/slave bicore arrangement could be used. For the greatest mobility, the more feedback form the motors, the better. Therefore, the more directly they can be attached to the control mechanism, the better. As a two bicore arrangement will have more driving power, not motor driver will be needed. This brings the chip count up slightly, but as all the chips as the same (74AC240) the convinience makes up for the slight cost.
Decided: Perpendicular motor arrangement controlled by a master/slave bicore brain.
To think about: How can the microcontroller influence this arrangement? |
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