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.|
|Configuration D was used to build a laser-cut version of the robot.
Remote control is by Bluetooth from Android.
as seen in an Intel promotional video
Name Last modified Size Description
Parent Directory - Attic/ 16-Dec-2013 09:17 - Drawings/ 04-Jan-2018 10:04 - Favorites/ 27-Feb-2014 14:43 - SVNAttic/ 27-Sep-2013 05:30 - WalkerTrunk/ 29-Sep-2015 12:18 - img/ 26-Oct-2016 08:11 - opt14/ 16-Aug-2013 06:07 - Ghassaei.html 22-Oct-2013 13:04 1.1K Building3D.html 07-Nov-2013 15:57 2.9K MainAssembly3D.html 07-Nov-2013 10:22 3.1K PartsPrep3D.html 07-Nov-2013 15:57 3.8K Klann.html 22-Oct-2013 13:04 4.0K BuildingLC.html 23-Aug-2014 13:46 4.6K Building.html 30-Jan-2014 08:03 4.9K GhassaeiLinkage.png 27-Sep-2013 05:10 5.2K LegAssemblyLC.html 30-Jan-2014 07:32 9.9K DriveMountAssemblyLC..> 21-Jan-2014 06:46 10K KlannLinkage.png 27-Sep-2013 05:10 15K BuildingLCX.html 11-Feb-2014 08:30 17K parametric_involute_..> 06-Sep-2013 13:38 18K JansenLinkages.png 09-Sep-2013 17:08 18K BuildingLCQ.html 18-May-2014 08:57 22K JansenLinkagesRender..> 20-Aug-2013 06:26 67K Klann.zip 18-May-2013 09:56 192K BL_4WD.apk 25-Aug-2013 10:09 469K Jansen12Base.zip 16-Dec-2013 08:58 705K Jansen13.zip 23-Aug-2014 13:54 849K KlannOrbit3.gif 18-May-2013 08:22 1.9M klannOpt2.gif 07-May-2013 10:10 2.5M klannOpt2a.gif 07-May-2013 10:10 2.5M klannOpt1.gif 07-May-2013 05:11 2.6M KlannCycle.gif 04-May-2013 09:43 3.1M GhassaeiOrbit.gif 15-May-2013 07:18 3.5M Jansen12.zip 21-Dec-2013 12:29 3.8M JansenCycle.gif 27-Apr-2013 06:38 5.3M