Some pictures below of progress so far.
as you can see the legs are being assembled on the one side and the test rig will be stripped and useful bits transferred to the robot chassis. I still have ons leg to cut out.
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this gives a view of the basic size of the walker next to (over) E-Knock.
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Wow this looks incredible! The audience will go wild when they see this walking into the arena.
I am curious though whether it technically has 2 degrees of freedom, as it is still essentially cam based surely the position of the legs is fully defined by the angle of the camshaft meaning 1 degree of freedom? And I guess you wouldn't be able to demonstrate two degrees of movement separately.
Maybe this could be overcome by controlling it with a microcontroller and solenoid based valves, but assuming you have a fixed walking gate it could still be classed as single degree of freedom. I guess this shows just how ridiculous the 2 degree of freedom rule is as in order to have a true 2 degrees of freedom you would have to be able to remotely alter the gate in real time which is just impractical in a fast pace combat environment
It is a walker mechanisme according to the rules, and it can use the extra weight allotted to it.
It would take a rule change to block this great idea.
2 actuators acting independently, looks like a walker to me. And a nice mechanism at that.
If that is classed at a single degree of freedom, we've gone mad. I prefer to think of it as 2 separate planes rather than 2 DoF. If this was a 3D CAD model, for example, the legs are moving in both the X- and Y-planes, whereas something like Anarchy, Pilgrim or Spiderbot has legs that only move in one plane, or 1 DoF (as barmy as it seems that Pilgrim doesn't count as a walker).
I'd be surprised if anyone argued that this only has one DoF. It's a great build so far and kudos to Craig for tackling it.
I'm just using them at sub 50psi so they won't need certification under the FRA rules,
I have tried to pressurise them up to 100psi but only got to about 85psi with no problem at all (the compressor could not get much higher).
The way of fixing the copper pipe to the bottle was quite simple these bottles have an opening that is just a little smaller than the 22mm tube so with Gorilla glue or similar, I heated up the copper tube with a heat gun smeared glue inside the bottle opening and gently pushed the bottle over the copper tube and left the glue to set. they are not coming apart!
once you have a standard plumbing tube to connect to all kinds of unmodified fittings become available. I am thinking of having about 5-8 litres of storage for the weapon and the transmission. should be enough for a Feather.
Craig, you know gorilla glue reacts to set properly with water? If you use water you can set a guitar neck under pressure from strings with it. I'm sure you know, it's great without water but it's sooooo much better with!
Reckon its the best way to do it and definitely counts as a walker in my opinion (but then so should a lot of other mechanisms), otherwise we're going to make it so complicated that its beyond the reach of everyone and essentially make all robots the same. Really love the design of this.
I really love how this is coming along.
I think they're already passed that point to be honest.Originally Posted by Anttazz
Progress so far on the walker project.
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