3 ms·
Oh I want one of those "Timberjack" machines. (well without the timber cutting stuff). Based on some of the papers I found on the OSU project it seems like you
by ChuckMcM 6y ago
Oh I want one of those "Timberjack" machines. (well without the timber cutting stuff). Based on some of the papers I found on the OSU project it seems like you could replace the entire computing infrastructure it was carrying around with about one pound (1/2 kg) of computers.
I don't suppose you have a pointer to an IK paper on the 4-bar linkages do you? Looks like something that might be fun to cons up with servos.
- jcims 6y agoThere are quite a few quadruped robots that use them for legs: https://youtu.be/2k5lOUGenkE https://youtu.be/2k5lOUGenkE
- Animats 6y agoNow that's a more modern way to use a four-bar linkage. The ASV used it to simplify the kinematic problem, which is doing arithmetic with big steel connecting rods. That little quadruped is using it to get two degrees of freedom without the first actuator having to carry the mass of the second one.
- jcims 6y agoHey you might know this. Is there a term for using what effectively a differential gear arrangement to get two axes of motion as shown in the arm in this video (twice actually, for axes 2/3 and 4/5)? https://youtu.be/ri8kwOCJnY8 https://youtu.be/ri8kwOCJnY8
- Animats 6y agoThere's an MIT Press book.[1] Chapter 6, "Leg Design by Four Bar Linkage Synthesis" covers the four-bar linkage. They were struggling to get enough working volume for the foot out of the four bar linkage without the mechanism becoming too bulky. They wanted to be able to move horizontally using only one actuator per leg, which allowed manual backup control. It's an interesting piece of history, but there's no need to do it that way today. [1] https://www.amazon.com/Machines-That-Walk-Adaptive-Suspension/dp/0262192748 https://www.amazon.com/Machines-That-Walk-Adaptive-Suspensio...