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Parent Directory - GhassaeiLinkage.png 2013-09-27 05:10 5.2K JansenLinkagesPrint.png 2013-09-27 05:10 39K Klann.scad 2013-09-27 05:10 7.4K KlannLinkage.png 2013-09-27 05:10 15K balanceList.m 2013-09-27 05:10 1.2K barRegion1.png 2013-09-27 05:10 1.3M basketMount.scad 2013-09-27 05:10 2.6K driveElectronicsMoun..> 2013-09-27 05:10 3.5K grid.scad 2013-09-27 05:10 462 linkageJig.scad 2013-09-27 05:10 3.4K plotGhassaei.m 2013-09-27 05:10 885 plotGhassaeiOrbit.m 2013-09-27 05:10 1.4K plotJansen.m 2013-09-27 05:10 930 plotJansenConfig.m 2013-09-27 05:10 1.1K plotJansenOrbit.m 2013-09-27 05:10 1.1K plotKlann.m 2013-09-27 05:10 921 plotKlannConfigs.m 2013-09-27 05:10 1.0K plotKlannOrbit.m 2013-09-27 05:10 1.3K quelab.ini 2013-09-27 05:10 2.9K spacerTest.scad 2013-09-27 05:10 1.6K spacers.scad 2013-09-27 05:10 519 triVertex.m 2013-09-27 05:10 1.0K svn-commit.tmp 2013-10-22 13:02 132 JansenFoot.scad 2013-10-22 13:03 4.0K spacersP1.pl 2013-10-22 13:03 1.8K Ghassaei.html 2013-10-22 13:04 1.1K Klann.html 2013-10-22 13:04 4.0K MainAssembly3D.html 2013-11-07 10:22 3.1K involuteGear.pl 2013-11-07 10:22 8.2K lc20_30_1x1.pl 2013-11-07 10:22 1.6K lc20_30_1x2.pl 2013-11-07 10:22 2.6K lc20_45_1x1.pl 2013-11-07 10:22 1.7K lc20_45_1x2.pl 2013-11-07 10:22 3.3K Building3D.html 2013-11-07 15:57 2.9K PartsPrep3D.html 2013-11-07 15:57 3.8K Building3Dspc.html 2013-12-03 07:49 2.8K testGearP1.pl 2013-12-03 07:49 1.8K JansenBED.scad 2013-12-21 12:31 8.3K pulley.scad 2013-12-21 12:31 3.7K lc20crankLinksP1.pl 2014-01-20 11:13 2.3K DriveMountAssemblyLC..> 2014-01-21 06:46 10K LegAssemblyLC.html 2014-01-30 07:32 9.9K PayloadAssemblyLC.html 2014-01-30 07:32 3.8K lc20_30_P2.pl 2014-01-30 07:32 2.4K lc20_45_P2.pl 2014-01-30 07:32 2.6K spares30P1.pl 2014-01-30 07:32 1.6K spares45P1.pl 2014-01-30 07:32 2.1K testMotorMount.pl 2014-01-30 07:32 1.3K Building.html 2014-01-30 08:03 4.9K lc20_25_P2.pl 2014-02-07 07:07 1.7K payloadTest.pl 2014-02-07 07:07 1.7K img/ 2014-02-09 07:41 - BuildingLCX.html 2014-02-11 08:30 17K Favorites/ 2014-02-28 06:54 - bin/ 2014-05-01 06:16 - com/ 2014-05-01 06:16 - XD20_22_212x400.pl 2014-05-01 06:16 2.3K XD20_30_230x350.pl 2014-05-01 06:16 2.1K XD20_45_344x384.pl 2014-05-01 06:16 2.9K XE20_45_344x384.pl 2014-05-01 06:16 3.6K catchBar107x53.pl 2014-05-01 06:16 1.0K catchTab63x61.pl 2014-05-01 06:16 1.2K e20T45_181x295.pl 2014-05-01 06:16 3.2K e20_22_207x252.pl 2014-05-01 06:16 1.7K e20_30_116x174.pl 2014-05-01 06:16 1.7K e20bhef135x252.pl 2014-05-01 06:16 1.0K e20crankLinks178x109.pl 2014-05-01 06:16 953 e20feet45_180x158.pl 2014-05-01 06:16 2.4K e20hip45_180x132.pl 2014-05-01 06:16 1.5K e20mainBar45_144x191.pl 2014-05-01 06:16 3.0K e20mainGear45_59x59.pl 2014-05-01 06:16 1.3K e20payload30_171x285.pl 2014-05-01 06:16 787 e20payloadSides45_18..> 2014-05-01 06:16 814 gearPlates103x113.pl 2014-05-01 06:16 1.4K hipForks73x97.pl 2014-05-01 06:16 790 laserCutPartsGroups.pl 2014-05-01 06:16 14K laserCutPartsPrimiti..> 2014-05-01 06:16 30K motorMount.pl 2014-05-01 06:16 7.2K payloadBox.pl 2014-05-01 06:16 27K stackers181x181.pl 2014-05-01 06:16 677 toProduction.pl 2014-05-16 10:57 765 stackers61x61.pl 2014-05-18 08:39 672 BuildingLCQ.html 2014-05-18 08:57 22K JansenDefs.scad 2014-08-23 10:37 3.8K BuildingLC.html 2014-08-23 13:46 4.6K Jansen.scad 2014-08-23 13:46 16K JansenDefs.pl 2014-08-23 13:46 6.3K JansenMain.scad 2014-08-23 13:46 3.4K Makefile 2014-08-23 13:46 4.9K NOTES3D.html 2014-08-23 13:46 967 QuelabJansenConfig.ini 2014-08-23 13:46 2.8K motorMount.scad 2014-08-23 13:46 3.3K
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
Last modified: 140518
