Alt-BEAM Archive

Message #08805



To: beam@sgiblab.sgi.com
From: Bob Shannon bshannon@tiac.net
Date: Mon, 3 Jan 2000 17:28:31 -0500
Subject: Re: Lens Motors



> Herbach & Rademan has them.
>
> Try:
>
> http://www.herbach.com
>
> P/N TM97MTR3083 @19.95 each.
>
> Ben Kirk wrote:
>
> > Does anyone know where I can buy some of those lens motors that are so
> > popular. MG micro used to carry them, but they sold out.
> >
> > Thanks for the help
> > Ben
> > ______________________________________________________
> >


8806 Mon, 03 Jan 2000 18:27:36 -0500 [alt-beam] Re: Biped Beam Bots beam@sgiblab.sgi.com "Sathe Dilip" Take a look at

http://www.robotics.com/robomenu/

This site has a gallery of robot pictures with a brief description of
each. I have by no means checked each entry but there are a couple of
bipeds in there (Gigantor, Pinocchio) & a triped. Though these do not
seem to have any intelligence for balancing etc. There are also some
BEAM bot entries so don't flame me for taking you to a site for general
robotics :-)

Dilip
--------------------------------------------

Ian wrote:
>
> Hey
>
> > aint ian working on one of those?
> > or is he done with it?
> Yep. I'm working on one now. Here are some photos....
>
> http://www.BEAM-Online.com/Robots/biped/biped.jpg
>
SNIP
--
Pl. remove *s from the e-mail address to reply



8807 Mon, 3 Jan 2000 16:05:02 -0800 (PST) [alt-beam] Re: Biped Beam Bots beam@sgiblab.sgi.com Daniel Grace I've been there a lot. Lotsa great bots, and if
someone gave me another site like that, I wouldn't
flame them for it not being BEAM. There's inspiration
quality even if you are devoted to BEAM and only BEAM.

~Daniel

--- Sathe Dilip wrote:
> Take a look at
>
> http://www.robotics.com/robomenu/
>
> This site has a gallery of robot pictures with a
> brief description of
> each. I have by no means checked each entry but
> there are a couple of
> bipeds in there (Gigantor, Pinocchio) & a triped.
> Though these do not
> seem to have any intelligence for balancing etc.
> There are also some
> BEAM bot entries so don't flame me for taking you to
> a site for general
> robotics :-)
>
> Dilip
> --------------------------------------------
>
> Ian wrote:
> >
> > Hey
> >
> > > aint ian working on one of those?
> > > or is he done with it?
> > Yep. I'm working on one now. Here are some
> photos....
> >
> > http://www.BEAM-Online.com/Robots/biped/biped.jpg
> >
> SNIP
> --
> Pl. remove *s from the e-mail address to reply
>


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8808 Tue, 04 Jan 2000 11:07:16 +1100 [alt-beam] Re: Biped Beam Bots beam@sgiblab.sgi.com "Ben Hitchcock" Hi,

----------
>From: Ian
> Hey
>
>> aint ian working on one of those?
>> or is he done with it?
> Yep. I'm working on one now. Here are some photos....
>
> http://www.BEAM-Online.com/Robots/biped/biped.jpg
>
> I just need one more structural support and I will be basically done with
> the mechanics of it.

VERY impressive. I was just having a look at it, and thought "Now how could
that thing balance on one foot to walk?
Then I realised that one knee joint could push that leg down, and the other
ankle joint could rotate to follow the tilting ground, allowing the robot to
stand on one leg.

Have you tried that?

How much weight do you think it will be able to carry (Batteries etc)?
Where will you put it? On the torso?

Hmmm very interesting. Makes me want to build one myself!

P.S. Love the iMac!

Ben



8809 Mon, 03 Jan 1994 18:01:39 -0800 [alt-beam] ZVD was D1 beam@sgiblab.sgi.com Wilf Rigter
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content-transfer-encoding: 7bit

While not a direct answer to your D1 question (later that), here is some related
information in the first BEAM article of the 21th century :

The Zero Volt Diode (ZVD) is a circuit useful in a variety of applications
including solar chargers of all types. It is a novel circuit in which a power
mosfet acts like a very low voltage drop diode which switches state at 0V! and
which is used to conduct NEGATIVE! current from drain to source.

In D1 type solar engines, a low loss diode can be used to charge a cap to the
open circuit voltage of the solar cell and used in solar battery chargers, the
battery is charged at the maximum rate when the source voltage is highest. The
diode must be used in series with the solar panel or else the cap or battery
would discharge through the solar panel when the panel voltage drops below the
stored voltage.

The diode or equivalent polarity sensitive switch is therefore essential to solar
chargers.
Most diodes used in BEAM SEs and solar chargers are Silicon diodes like the
1N4001 which have a voltage drop of 0.6V to 1V at currents up to 1A. More
efficient diodes for currents form >100mA to tens of amps applications are the
Schottky type rectifiers with a voltage drop of from 200mV to 1000mV depending on
the current level. For <100mA applications a Germanium diode can used with 200mV
or less drop.

This voltage drop issue is important in competition solar engines since you
would like to have the maximum voltage to charge the cap and supply the load (low
diode drop) and keep the charge stored on the cap when the lightlevel drops
(leakage current cut off).
and the SE triggers. Moreover, since the energy in the cap is proportional to
the square of the voltage even the small voltage drop of a diode reduces
available energy.

One obvious simple improvement over the original D1 design is to substitute a Ge
1N34A diode (Radio Shack) instead of the Si 1N4001 diode.

An ideal diode would have zero voltage drop. While a straight hookup of the
solar cell has minimum voltage drop it leaks if the light drops and any real
diode has a forward voltage drop. What to do?

The solution is to use a mosfet as a rectifier just like the synchronous
rectifier applications in volatge converters. The mosfet should be switched ON
when the solar voltage is larger than the capacitor or battery voltage and
switch OFF when the solar voltage is lower than the stored voltage.

Here is a little design for charging capacitors from solar cells with zero
voltage drop at the end of the charge cycle. It can be easily scaled to higher
currents by changing the 2N7000 for a larger mosfet. If a parallel load is
present, the circuit also delivers maximum voltage with minimum insertion loss
from the solar cell. The mosfet turns on when the voltage difference is zero and
turns off when the solar voltage drops less than 100mV below the cap or battery .

The NPN transistor is normally ON when the cap voltage is more than .6V and this
clamps the gate of the 2N7000 which is turned OFF. The PNP tarnsistors is
connected to the negative terminal of the solar panel and when the voltage on
that terminal drops below 0V the PNP turns ON. This in turn turns the NPN OFF and
the 2N7000 turns ON. MOSFET have an interesting characteristic in that they act
like bidirectional switches, so the 2N7000 is perfectly happy to have it's DRAIN
conduct a negative current to the 0V line. When the voltage on the negative
terminal of the solar panel is more positive than 0V the PNP turns OFF and the
NPN ON and the 2N7000 turns off with the drain voltage positive with respect to
the source voltage and 0V line. Since the 2N7000 does not turn on until the gate
voltage is more than 2V (in practice: higher according to the data book) a logic
FET with a lower gate turn on voltage would be preferred. In any case the mosfet
has a integral reverse diode from drain to source which will carry the current
until the voltage on the cap reaches 2V at which point the mosfet turns on and
the forward voltage drops to a few 10s of mV.

Anyway it's a start to revisit some of the more primitive solar circuits and get
the technological edge on your competitors in the WCRG solar races!

enjoy

wilf


[Image]



Bumper314@aol.com wrote:

> I'm looking for a solarengine that works better then the D1. The D1 is so
> twitchy and needs alot of tweeking so I'm looking for something that will
> just charge up all day and kick off for the night..I have found that there is
> always plenty of power left in the cap when the D1 turns off (after about 10
> minutes even with a .47F cap) Does anyone have a solution
>
> Steve


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--------------771750E41F1E1910678FA284
content-transfer-encoding: 7bit



While not a direct answer to your D1 question (later that), here is some
related information in the first BEAM article of the 21th century :

The Zero Volt Diode (ZVD) is a circuit useful in a variety of applications
including  solar chargers of all types. It is a novel circuit in which
a power mosfet acts like a very  low voltage drop diode which 
switches state at 0V! and which is used to conduct NEGATIVE! current from
drain to source.

In D1 type solar engines, a low loss diode can be used to charge a cap
to the open circuit voltage of the solar cell and used in solar battery
chargers, the battery is charged at the maximum  rate when the source
voltage is highest.   The diode must be used  in series
with the solar panel or else  the cap or battery would discharge through
the solar panel when the panel voltage drops below the stored voltage.

The diode or equivalent polarity sensitive switch is therefore essential
to solar chargers.

Most diodes used in BEAM SEs and solar chargers are Silicon diodes
like the 1N4001 which have a voltage drop of 0.6V to 1V at currents up
to 1A. More efficient diodes for currents form >100mA to tens of amps applications 
are the  Schottky type rectifiers with a voltage drop of from 200mV
to 1000mV depending on the current level. For <100mA applications a
Germanium diode can used with 200mV or less drop.

This voltage drop issue is important in competition solar engines 
since you would like to have the maximum voltage to charge the cap and
supply the load (low diode drop) and keep the charge stored on the cap
when  the lightlevel drops (leakage current cut off).  

and the SE  triggers. Moreover, since the energy in the cap is
proportional to the square of the voltage even the small voltage drop of
a  diode reduces available energy.

One obvious simple improvement over the original D1 design  is
to substitute a Ge 1N34A diode (Radio Shack)  instead of the Si 1N4001
diode.

An ideal diode would  have zero voltage drop. While a straight
hookup of the solar cell has minimum voltage drop it leaks if the light
drops and any real diode has a forward voltage drop.   
What to do?

The solution is to use a mosfet as a rectifier just like the synchronous
rectifier applications in volatge converters. The mosfet should be switched
ON when the solar voltage is larger than the capacitor or battery 
voltage and  switch OFF when the solar voltage is lower than the stored
voltage.

Here is a little design for charging capacitors from solar cells with
zero voltage drop at the end of the charge cycle. It can be easily scaled
to higher currents by changing the 2N7000 for a larger mosfet.  If
a parallel load is present, the circuit also delivers maximum voltage with
minimum insertion loss from the solar cell. The mosfet turns on when the
voltage difference is zero and turns off when the solar voltage drops less
than 100mV below the cap or battery .

The NPN transistor is normally ON when the cap voltage is more than
.6V and this clamps the gate of the 2N7000 which is turned  OFF. The
PNP tarnsistors is connected to the negative terminal of the solar panel
and when the voltage on that terminal drops below 0V the PNP turns ON.
This in turn turns the NPN OFF and the 2N7000 turns ON.   MOSFET
have an interesting characteristic in that they act like bidirectional
switches, so the 2N7000 is perfectly happy to have it's DRAIN conduct a
negative current  to the 0V line. When the voltage on the negative
terminal of the solar panel is more positive than 0V the PNP turns OFF
and the NPN ON and the 2N7000 turns off with the drain voltage positive
with respect to the source voltage and 0V line.  Since the 2N7000
does not turn on until the gate voltage is more than 2V (in practice: 
higher according to the data book) a logic FET with a lower gate turn on
voltage would be preferred. In any case the mosfet has a integral reverse
diode from  drain to source which will carry the current until the
voltage on the cap reaches 2V at which point the mosfet turns on and the
forward voltage drops to a few 10s of mV.

Anyway it's a start to revisit some of the more primitive solar circuits
and get the technological edge on your competitors in the WCRG solar races!

enjoy

wilf

 



 

 

Bumper314@aol.com wrote:

I'm looking for a solarengine that works better then
the D1. The D1 is so

twitchy and needs alot of tweeking so I'm looking for something that
will

just charge up all day and kick off for the night..I have found that
there is

always plenty of power left in the cap when the D1 turns off (after
about 10

minutes even with a .47F cap) Does anyone have a solution

Steve





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8810 Mon, 3 Jan 2000 18:45:16 -0800 (PST) [alt-beam] Lego Micromotors site beam@sgiblab.sgi.com slay_the_DRAG@excite.com hey guys,

what is the site for Baby Scratchy? I would like to see him.

thanks.





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