Name Last modified Size Description
Parent Directory - barRegion1.png 2013-09-05 14:48 1.3M JansenLinkagesPrint.png 2013-04-27 06:37 39K KlannLinkage.png 2013-05-07 05:19 15K Jansen.scad 2013-09-10 10:12 15K drawLaserCutParts4.pl 2013-09-09 06:23 13K laserCutPartsPrimiti..> 2013-09-09 06:23 9.9K drawLaserCutParts.pl 2013-09-04 07:59 9.5K Klann.scad 2013-05-18 09:49 7.4K Makefile 2013-09-10 10:06 5.0K JansenFoot.scad 2013-09-09 06:23 5.0K Building.html 2013-09-10 10:27 4.4K drawLaserCutPartsCra..> 2013-09-04 07:59 4.1K Klann.html 2013-09-10 10:27 3.9K JansenBED.scad 2013-09-10 10:06 3.8K driveElectronicsMoun..> 2013-08-07 09:43 3.5K JansenMain.scad 2013-09-05 14:48 3.5K JansenDefs.scad 2013-09-09 06:23 3.4K linkageJig.scad 2013-06-13 19:12 3.4K pulley.scad 2013-08-27 19:33 3.3K quelab.ini 2013-09-05 14:48 2.9K QuelabJansenConfig.ini 2013-09-09 06:23 2.8K basketMount.scad 2013-08-07 09:43 2.6K motorMount.scad 2013-08-27 19:33 2.1K JansenDefs.pl 2013-09-05 14:48 1.9K spacerTest.scad 2013-08-16 06:20 1.6K plotGhassaeiOrbit.m 2013-05-15 11:16 1.4K plotKlannOrbit.m 2013-05-18 09:49 1.3K balanceList.m 2013-08-15 07:49 1.2K plotJansenConfig.m 2013-05-18 16:05 1.1K plotJansenOrbit.m 2013-05-10 13:01 1.1K triVertex.m 2013-04-27 06:37 1.0K plotKlannConfigs.m 2013-05-10 13:01 1.0K Ghassaei.html 2013-09-10 10:27 1.0K plotJansen.m 2013-04-27 06:37 930 plotKlann.m 2013-05-10 13:01 920 plotGhassaei.m 2013-05-15 11:16 884 spacers.scad 2013-07-02 11:54 518 grid.scad 2013-07-02 11:52 461 com/ 2013-05-07 05:19 - Favorites/ 2013-09-27 05:28 -
This drawing will help explain my conventions for naming parts of the linkage:
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.