Monkeybot - Revision history

Lynch at 17:11, 20 March 2012

2012-03-20T17:11:26Z

← Older revision		Revision as of 12:11, 20 March 2012
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	[[Image:monkeybot_pic\|thumb\|right\|350px\|~~Moneybot~~]]		[[Image:monkeybot_pic\|thumb\|right\|350px\|Monkeybot]]
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NathanHenry: /* Design Considerations */

2009-04-02T18:20:12Z

Design Considerations

← Older revision		Revision as of 13:20, 2 April 2009
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	===Design Considerations===		===Design Considerations===
	The two links, made of 1/8” thick acrylic, create the body of the robot and create a mount for both bearings and the motor. The thickness and the material was chosen to minimize weight, and thus the torque required to swing the robot. The links were produced using a laser cutter. The rotational ball bearings mount on the links and hold the magnets, allowing the robot to swing around a fixed point. The encoders are mounted above the magnets on a bridge, so that they are capable of measuring the rotation of the link around the magnet.		The two links, made of 1/8” thick acrylic, create the body of the robot and create a mount for both bearings and the motor. The thickness and the material was chosen to minimize weight, and thus the torque required to swing the robot. The links were produced using a [[laser cutter \| Laser Cutter]]. The rotational ball bearings mount on the links and hold the magnets, allowing the robot to swing around a fixed point. The encoders are mounted above the magnets on a bridge, so that they are capable of measuring the rotation of the link around the magnet.

	The Pittman motor was chosen to provide enough torque to the links to overcome friction. The gear head is also needed to get the necessary torque. With the gear head, the Pittmann is capable of providing 2.1 Nm of torque, which is more than enough for this application. However, the motor is rather large and thus increases the overall weight of the system.		The Pittman motor was chosen to provide enough torque to the links to overcome friction. The gear head is also needed to get the necessary torque. With the gear head, the Pittmann is capable of providing 2.1 Nm of torque, which is more than enough for this application. However, the motor is rather large and thus increases the overall weight of the system.

Nelson Rosa: /* Simulation */

2009-03-29T04:41:08Z

Simulation

← Older revision		Revision as of 23:41, 28 March 2009
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	==Simulation==		==Simulation==
	We developed a simulation that shows how the brachiating robot would ideally climb given a closed-loop control law that continuously pumps energy into the system. The simulation assumes point mass objects (red dots), viscous friction at the revolute joints, and an input forcing function at the motor joint (middle red dot). The simulation was done in Mathematica 7.0 and the code is hosted as a [http://code.google.com/p/hoppingrobot/ Google code project].		We developed a simulation that shows how the brachiating robot would ideally climb given a closed-loop control law that continuously pumps energy into the system. The simulation assumes point mass objects (red dots), viscous friction at the revolute joints, and an input forcing function at the motor joint (middle red dot). The simulation was done in Mathematica 7.0 and the code is hosted as a [http://code.google.com/p/hoppingrobot/ Google code project].

	[[Media:monkeybot-sim.swf]]

	==Control Method==		==Control Method==

Nelson Rosa: /* Simulation */

2009-03-29T04:38:09Z

Simulation

← Older revision		Revision as of 23:38, 28 March 2009
Line 27:		Line 27:
	We developed a simulation that shows how the brachiating robot would ideally climb given a closed-loop control law that continuously pumps energy into the system. The simulation assumes point mass objects (red dots), viscous friction at the revolute joints, and an input forcing function at the motor joint (middle red dot). The simulation was done in Mathematica 7.0 and the code is hosted as a [http://code.google.com/p/hoppingrobot/ Google code project].		We developed a simulation that shows how the brachiating robot would ideally climb given a closed-loop control law that continuously pumps energy into the system. The simulation assumes point mass objects (red dots), viscous friction at the revolute joints, and an input forcing function at the motor joint (middle red dot). The simulation was done in Mathematica 7.0 and the code is hosted as a [http://code.google.com/p/hoppingrobot/ Google code project].

	[[Media:~~http://hoppingrobot.googlecode.com/svn/wiki/~~monkeybot-sim.swf]]		[[Media:monkeybot-sim.swf]]

	==Control Method==		==Control Method==

Nelson Rosa: /* Simulation */

2009-03-29T04:37:47Z

Simulation

← Older revision		Revision as of 23:37, 28 March 2009
Line 27:		Line 27:
	We developed a simulation that shows how the brachiating robot would ideally climb given a closed-loop control law that continuously pumps energy into the system. The simulation assumes point mass objects (red dots), viscous friction at the revolute joints, and an input forcing function at the motor joint (middle red dot). The simulation was done in Mathematica 7.0 and the code is hosted as a [http://code.google.com/p/hoppingrobot/ Google code project].		We developed a simulation that shows how the brachiating robot would ideally climb given a closed-loop control law that continuously pumps energy into the system. The simulation assumes point mass objects (red dots), viscous friction at the revolute joints, and an input forcing function at the motor joint (middle red dot). The simulation was done in Mathematica 7.0 and the code is hosted as a [http://code.google.com/p/hoppingrobot/ Google code project].

	[[Media:monkeybot-sim.swf]]		[[Media:http://hoppingrobot.googlecode.com/svn/wiki/monkeybot-sim.swf]]

	==Control Method==		==Control Method==

Nelson Rosa: /* Simulation */

2009-03-29T04:36:51Z

Simulation

← Older revision		Revision as of 23:36, 28 March 2009
Line 26:		Line 26:
	==Simulation==		==Simulation==
	We developed a simulation that shows how the brachiating robot would ideally climb given a closed-loop control law that continuously pumps energy into the system. The simulation assumes point mass objects (red dots), viscous friction at the revolute joints, and an input forcing function at the motor joint (middle red dot). The simulation was done in Mathematica 7.0 and the code is hosted as a [http://code.google.com/p/hoppingrobot/ Google code project].		We developed a simulation that shows how the brachiating robot would ideally climb given a closed-loop control law that continuously pumps energy into the system. The simulation assumes point mass objects (red dots), viscous friction at the revolute joints, and an input forcing function at the motor joint (middle red dot). The simulation was done in Mathematica 7.0 and the code is hosted as a [http://code.google.com/p/hoppingrobot/ Google code project].

			[[Media:monkeybot-sim.swf]]

	==Control Method==		==Control Method==

Nelson Rosa: /* Simulation */

2009-03-23T14:25:08Z

Simulation

← Older revision		Revision as of 09:25, 23 March 2009
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	==Simulation==		==Simulation==
	We ~~have~~ developed a simulation that shows how the brachiating robot would ideally climb given a closed-loop control law that continuously pumps energy into the system. The simulation assumes point mass objects (red dots), viscous friction at the revolute joints, and an input forcing function at the motor joint (middle red dot). The simulation was done in Mathematica 7.0 and the code is hosted as a [http://code.google.com/p/hoppingrobot/ Google code project].		We developed a simulation that shows how the brachiating robot would ideally climb given a closed-loop control law that continuously pumps energy into the system. The simulation assumes point mass objects (red dots), viscous friction at the revolute joints, and an input forcing function at the motor joint (middle red dot). The simulation was done in Mathematica 7.0 and the code is hosted as a [http://code.google.com/p/hoppingrobot/ Google code project].

	==Control Method==		==Control Method==

Nelson Rosa: /* Simulation */

2009-03-23T13:58:46Z

Simulation

← Older revision		Revision as of 08:58, 23 March 2009
Line 25:		Line 25:

	==Simulation==		==Simulation==
	~~The~~ ~~following~~ simulation shows how the brachiating robot ~~should~~ ideally climb given a closed-loop control law that continuously pumps energy into the system. The simulation assumes point mass objects (red dots), viscous friction at the revolute joints, and an input forcing function at the motor joint (middle red dot). The simulation was done in Mathematica 7.0 and the code is hosted as a [http://code.google.com/p/hoppingrobot/ Google code project].		We have developed a simulation that shows how the brachiating robot would ideally climb given a closed-loop control law that continuously pumps energy into the system. The simulation assumes point mass objects (red dots), viscous friction at the revolute joints, and an input forcing function at the motor joint (middle red dot). The simulation was done in Mathematica 7.0 and the code is hosted as a [http://code.google.com/p/hoppingrobot/ Google code project].


	[[Media:monkeybot-sim.swf]]

	==Control Method==		==Control Method==

Nelson Rosa: /* Simulation */

2009-03-23T13:56:53Z

Simulation

← Older revision		Revision as of 08:56, 23 March 2009
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	[[Media:~~monkeybot_sim~~]]		[[Media:monkeybot-sim.swf]]

	==Control Method==		==Control Method==

Nelson Rosa: /* Simulation */

2009-03-23T13:55:51Z

Simulation

← Older revision		Revision as of 08:55, 23 March 2009
Line 28:		Line 28:


	[[~~Image~~:monkeybot_sim]]		[[Media:monkeybot_sim]]

	==Control Method==		==Control Method==