03263 [alt-beam] Re: Who was it that made that?Servo Bots / Inspiration

Alt-BEAM Archive

Message #03263

To: "Dennison" dennlill@buffnet.net, "Sean Rigter" rigter@cafe.net,
From: "Rick Diaz" rrdiaz@email.msn.com
Date: Fri, 14 May 1999 07:32:07 -0500
Subject: [alt-beam] Re: Who was it that made that?Servo Bots / Inspiration

I think this is what you were asking for.

Later...Rick

BEGIN MESSAGE
****************************************************************************
*************************
DATE: Fri, May 22, 1998 3:31 PM
FROM: "David@Winchell.Net"
SUBJECT: It's alive !! STOP HACKING THOSE SERVOS!! Throw away your springs.

Hello World, Tomorrow we WALK. It's time for the next step!!

It's alive !!
STOP HACKING THOSE SERVOS!!
Throw away your springs.
Stop falling over in mid stride.

Stop trying to build pager motor gear boxes
and start building killer walkers.

A given from M. Tilden:

Watch as machine evolution occurs.

In other words, robogenetics through robobiologics.

NOTE: THE FOLLOWING CIRCUIT DESCRIPTION IS COPYRIGHTED BY
DAVID WINCHELL AS OF 22 MAY 1989 AND MAY ONLY BE USED BY
BEAM MEMBERS FOR ENTERTAINMENT. NO COMMERCIAL APPLICATIONS
ARE AUTHORIZED WITHOUT WRITTEN PERMISSION. WHAT BELONGS TO
MARK TILDEN IS HIS AND MINE IS MINE. OH JUST HAVE FUN
BEAMer'S

My new walker NON-MODIFIED SERVO brain has run for 24 hours
without going in to saturation.* I used 2 * 74HC14's and one
74HC125. One 74HC14 acts as a dual channel SERVO POSITION
UNIT "SPU" Two of the inverters are wired to form a BI-core.
two more inverters are wired to form half monostable one
shots. R1*C1 AND R2*C1 are set to generate a 45 HZ rate
triggers to the R3*C3 and R4*C4 half mono's. The R3*C3
half mono is set to generate a 1.25 ms positive going pulse
or 45 degree CCW position. The R4*C4 half mono is set to
generate a 1.75 ms positive going pulse or 45 degree CW
position. By using an SPU you can build and test your frame,
legs and test it with one chip on a tether.

--------------------------------
| 1 2 3 4 |
----|>--+--C1--+--|>--+--C2--+--
| | | |
| R1 | R2
| | | |
| G | G
| |
| | 5 6 9 8
| ----C3--+--|>----|>---- CCW POSITION
| |
| R3
| |
| G
| 11 10 13 12
------------------C4--+--|>----|>---- CW POSITION
|
--|>-- 74HC14 R4
|
G

If you use two push buttons you can test run your servo.

___________
+6VDC | |
----------- | Servo red wire ---------
| | -------------------+ |
| | CW___ | |
| +------o o----- Servo white wire | |
| SPU | CCW___ +--------------------+ Servo |
| +------o o----- | |
| | | |
| | -------------------+ |
----------- | Servo white wire ---------
G

Now that the SPU is working add the 74HC125 SERVO CONTROL
UNIT or SCU.
1 ___
---RS-CW--o o--G
2 | 3
----------- --------|>----------------------+
| | | 4 ___ |
| | | ------- FS-CW--o o--G |
| | CW | 5 | 6 |
| +------+--|>---+ |
| | | |
| SPU | +--Front Servo White +--Rear Servo White
| | CCW | |
| +------+---|>--+ |
| | | 9 | 8 ___ |
| | | -------FS-CCW--o o--G |
| | | 10 |
----------- ---------|>---------------------+
12 | 11 ___
--RS-CCW--o o--G
13

74HC125
---- Tri-State Control, Ground to enable.
|
In --|>-- Out

Note: I put 10K pull ups in 74HC125-PINs 1,4,10 & 13

74HC125-PIN 1 = G Then Rear Servo = CW RS-CW
74HC125-PIN 10 = G Then Rear Servo = CCW RS-CCW

74HC125-PIN 4 = G Then Front Servo = CW FS-CW
74HC125-PIN 13 = G Then Front Servo = CCW FS-CCW

Now for the final step add the a Stabilized BEAM Quad Core. This
design may be expanded to drive a 12, 16 and so on servo walker.
Lookout MIT this may be the new wave. But the TIMING may Vary
with user and cause variant and deviant behavior.

--------------------------------
| 1 2 3 4 | Core Stabilizer
----|>--+--C5--+--|>--+--C6--+--
| | |
--------- R5 R6
| | |
| G
|
|
| Open loop Quad Core.
| G1 G2 G3 G4
--C7-+-|>-+-C8-+-|>-+-C9-|>-+-C10-+-|>---
| | | | | | |
R7 | R8 | R9 R10 |
| | | | 1N914 Diodes
| | | --+--|>|-- TO 74HC125-PIN 4 - FS-CW
| | | |
| | | ---|>|-- TO 74HC125-PIN 10 -
RS-CCW
| | |
| | |
| | --------+--|>|-- TO 74HC125-PIN 4 - FS-CW
| | |
| | ---|>|-- TO 74HC125-PIN 1 - RS-CW
| |
| |
| ----------------------+--|>|-- TO 74HC125-PIN 13 -
FS-CCW
| |
| ---|>|-- TO 74HC125-PIN 1 - RS-CW
|
|
--------------------------------+--|>|-- TO 74HC125-PIN 13 -
FS-CCW
|
---|>|-- TO 74HC125-PIN 10 -
RS-CCW

Bi-Core State:

Quad-Core Front Servo Rear Servo
===================================
G1 = LOW CCW CCW
G2 = LOW CCW CW
G3 = LOW CW CW
G4 = LOW CW CCW

* Use .01 ceramic caps on all power leads.
Use 10uf electrolytic on servo power leads.

END MESSAGE
****************************************************************************
*************************

>Dennison

>Actually, surprisingly, SOmeone a while ago came up with this. I don't know
>what happened to them, but they were very happy with it. It was a
>'microcore' but it controlled the Servo Motors directly. Creating the
>propper pulses, and they had it going so that they had a walker that never
>saturated. It's was pretty neat, anyone remeber who that was? Or have a
copy
>of their e-mails?

------------------------------------------------------------------------
eGroup home: http://www.eGroups.com/group/alt-beam
http://www.eGroups.com - Simplifying group communications

Home