Turning Walker Experimentation (was: a couple more walker questions ...)
- Jo C wrote:
> I've put a photo in the Jo C folder in the photos section.Thank you, Jo. This suggests an experiment. Good. Here is something
new to add to my project list, and perhaps a suggestion to those
students working on science fair projects.
The question to answer is: what is the optimal weight distribution
and Nv Net configuration for the shortest turning radius?
Build a traditional two motor walker. Have five mounting holes for
the battery pack, spaced 1 cm apart on the same horizontal plane,
centered on the motors. This allows moving the center of gravity fore
or back. Attach one pen to the front legs, and a second to the rear
As you have already done, use the photo ratio duty cycled Bicore as
the Master, and add a Slave Bicore. Hard wire the photo Bicore with
resistors. Perhaps 80/20, or 470k/2.2M. Separate the photo Bicore
from the motor Bicore by means of a DPDT switch, toggling between the
photo Bicore and Gnd. Use terminal blocks on the motor drivers so
that the motors can easily be switched from Master or Slave.
There are ten possibilities to test. The center of gravity can be in
five locations. The Master Bicore or turning agent can be in two,
front or rear. The data point is the turning radius.
The testing procedure would be to mount the battery pack and connect
the Master Bicore to the front motor, the slave to the rear. Set the
walker on a white papered surface. Switch the Master Bicore to Gnd
and get the walker to go straight. Then, switch to Master to the
Photo Bicore. Measure the diameter of scribbles made by the legs and
estimate the turn radius. Switch the motors so that the Master is on
the rear, and then repeat.
Gotta find more time.
J Wolfgang Goerlich