|
Learner
Watch the movie of Learner here (mpg, 2.83MB): Launch movie
Get the circuit here: 2 motor walker citcuit
Beam Bicore Walker PCB, PCB layout
Learner is my first 2 motor reversing walker. It is still undergoing its test phase as I need to perfect the leg mechanics, for this reason I have called it Learner. For those that are new to BEAM, Learner uses a master/slave bicore arrangement to power it. What does this mean?
Well this is where the more complex beahviours that BEAM can accomplish shine through. Essentially, by using a series of inverters we can set up an oscillating signal, this signal can be set up in such a way that it will respond to environmental changes induced by sensors or indeed the motors that it is powering.
In BEAM technology we call the most basic component of such a system, an NV neuron, many of these can be strung together to create NV Nets of varying complexity and functionality. I shall do a full write up on this, but in the mean time you can read about it all here:
Solarbotics.net
25/02/06 - Updated
I have changed the legs on Learner now, including the leg mounts. The legs have been the hardest part to get right on this robot, but I am satisfied now.
Again I have used centering rubber bands, but this time the legs are stronger. Strength is very important for leg design, a lot of torque is applied to the legs, and they have to cope with it. The leg mounts must also be very stable from this point of view, and the place where they attach to the motors is extremely important; I have drilled some stripboard to create my mounts here.
|
