15 Feb 2006 slap.fish   » (Journeyer)

Some background on 48k - here are a few pics showing a somewhat disjointed progression of the build:

http://homepage.ntlworld.com/retro.spect1/robot.JPG http://homepage.ntlworld.com/retro.spect1/rob1.jpg http://homepage.ntlworld.com/retro.spect1/rob2.jpg http://homepage.ntlworld.com/retro.spect1/rob6.jpg http://homepage.ntlworld.com/retro.spect1/rob7.jpg http://homepage.ntlworld.com/retro.spect1/rob8.jpg http://homepage.ntlworld.com/retro.spect1/rob9.JPG

You can see that early on, I'd planned on driving the wheels via differentials and a single motor - that was changed in favour of a gearhead motor per wheel, arranged to drive the wheels directly (via couplings). Most recently, I have altered the drive arrangements again to a belt system, which means the drive train now has some allowance for slip built it, and any shock torques are unlikely to damage the gearheads - an extra 2:1 was used as it was looking increasingly likely that climbing a 15 degree incline was going to be close to exceeding the motors capabilities.

Last night I had the first wheel under power, using the new layout, and it works great - another added benefit of belt drive is I can quickly disengage the tensioner, effectively disconnecting drive, and allowing a freewheel mode - which I'm sure will come in useful when it's finally out and about, and I need to tow it home on a rope - picking it up will not be an option!

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