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kkeerroo
Experienced Roboteer
Joined: 17 Jun 2004
Posts: 1459
Location: Brisbane
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Ahhh, Aaron, your too much grease tip was already mentioned by Ajax who talked about the Hydraulic effect in the gearbox, but don't ask me, I didn't pay much attention in the tribology lectures at Uni.
Philip, you already have enough moving parts for a great flipper. One thing is though you don't always need the rams to be pushing in the direction you want the other robot to go. Basically your flipper (which is a SWEET flipper) is just a link rotating around a point. You just want it to rotate with another robot on the end. You use the pneumatic rams to push the link around the axis. Now it all comes down to moments. Moments are a rotational force. In you SWEET flipper you have 2 to worry about (or we do), the one caused by the ram and the one by our robot. The moment by the ram = the force exerted by the ram x the distance form where the ram connects to the link to the axis (the point were the link connects to the robot). The one created by our robot sitting on the link = the weight of our robot x the distance from it to the axis. If the rams moment is bigger the our moment then up we go. Create a bigger moment from the ram and we go up quicker.
Oh and since the distances I mentioned in the moments are directly in a straight line between the points and the forces are perpendicular (bad spelling, right angles) to these distances it doesn't matter where around the axis they are. Basically you could have your rams sitting facing directly forward and attached to the flipper directly under the axis, if the distance between the attachment point and the axis are the same as the distance you have now then you'd get the same damn flip you get now. Just look at Thermador 2, it has the same set up I just mentioned.
I wonder if what I said is too confussing. _________________ Get Some!!!
Secretary of the Queensland Robotics Sports Club inc.
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Sat Jun 19, 2004 8:54 pm |
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