This drawing will help explain my conventions for naming parts of the linkage:
I have started a trac site for this project. Managing trac at Dreamhost is proving to be a challenge, so it is a little rough right now. I have not figured out a way to allow a generic guest user while having authenticated users who can modify the site. As a temporary solution, I may need to ask you to login as user:anon, with a blank password.
After changing optimizer to try to stay from known locked configurations, configuration B was investigated, with this orbit. Although the lock/sticking issues were reduced with respect to configuration A, which was used to build the initial prototype robot, it was still an issue.
The optimizer was changed again to give a weight to how far the CH link comes to the B-axis, and configuration D, with this orbit, was chosen for the next trial.
|Configuration A was used to build a demonstration robot. The initial linkage print was motorized, and then used to build a sucessful demonstration remote-control robot.|
Name Last modified Size Description
Parent Directory - Attic/ 04-Sep-2013 08:02 - BL_4WD.apk 25-Aug-2013 10:09 469K Building.html 03-Dec-2013 07:49 4.8K Building3D.html 07-Nov-2013 15:57 2.9K BuildingLC.html 03-Dec-2013 07:55 4.0K DriveMountAssemblyLC..> 10-Dec-2013 09:10 8.3K Favorites/ 27-Sep-2013 05:28 - Ghassaei.html 22-Oct-2013 13:04 1.1K GhassaeiLinkage.png 27-Sep-2013 05:10 5.2K GhassaeiOrbit.gif 15-May-2013 07:18 3.5M Jansen11.zip 03-Dec-2013 06:16 4.4M Jansen11D.zip 11-Sep-2013 06:59 3.6M Jansen11standoff.zip 20-Sep-2013 06:54 4.3M JansenBase.zip 03-Dec-2013 06:46 697K JansenCycle.gif 27-Apr-2013 06:38 5.3M JansenHalfPulleys.zip 15-Aug-2013 08:01 127K JansenLinkages.png 09-Sep-2013 17:08 18K JansenLinkagesRender..> 20-Aug-2013 06:26 67K Jansen_crankArm.stl 04-Aug-2013 07:43 352K Jansen_main.gcode 20-Sep-2013 05:01 764K Jansen_main.stl 18-Sep-2013 19:29 611K Klann.html 22-Oct-2013 13:04 4.0K Klann.zip 18-May-2013 09:56 192K KlannCycle.gif 04-May-2013 09:43 3.1M KlannLinkage.png 27-Sep-2013 05:10 15K KlannOrbit3.gif 18-May-2013 08:22 1.9M MainAssembly3D.html 07-Nov-2013 10:22 3.1K PartsPrep3D.html 07-Nov-2013 15:57 3.8K PartsPrepLC.html 10-Dec-2013 09:10 11K SVNAttic/ 27-Sep-2013 05:30 - WalkerTrunk/ 10-Dec-2013 09:10 - img/ 10-Dec-2013 08:57 - klannOpt1.gif 07-May-2013 05:11 2.6M klannOpt2.gif 07-May-2013 10:10 2.5M klannOpt2a.gif 07-May-2013 10:10 2.5M motorMount.stl 28-Jun-2013 15:52 12K opt14/ 16-Aug-2013 06:07 - parametric_involute_..> 06-Sep-2013 13:38 18K spacerTest.zip 16-Aug-2013 05:58 262K