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The BEAM Bestiary is a BEAM Reference Library site.

3 motor walkers -- in-line geometry
An improvement on the traditional 2-motor walker



When you put three motors inline, you still get your choice of two geometries:

waisted 3-motor walklerwaisted 3-motor walkler

I've only seen examples of the first geometry (to date); this doesn't mean, though, that the second geometry is not feasible (give it a shot!).

Inter-motor timing
Motor timing (i.e., when each motor drives, for how long, and in what direction) is almost entirely a function of the electronics driving the motors. I'm aware of three main ways to drive 2 motors in a walker -- two microcore-based methods (quadcore & master / slave bicore pair), and one non-Nv-net method (the "not-so-dummy" walker). What follows is my attempt to put these three approaches in context (and a big tip of the hat to Bruce Robinson for much of this explanation!).

Quadcore
You can use a quadcore to drive a 3 motor walker by connecting the middle (waist) motor between one end or the other of the front and rear motor. This BEAM "territory" is pretty much unexplored, but this should give you one of two motor patterns:

Rear motor
CW
 
CCW
 
CW
 
Mid motor
CW
CCW
CCW
CW
CW
CCW
Front motor
 
CW
 
CCW
 
CW

or...

Rear motor
CW
 
CCW
 
CW
 
Mid motor
CCW
CW
CW
CCW
CCW
CW
Front motor
 
CW
 
CCW
 
CW

I haven't experimented with either, so I can't vouch for whether or not this is useful for any given motor geometry. Explore!

Master / slave bicore pair
Similarly, you can connect a 3 motors's waist motor between the bicores in a master / slave bicore pair. You should be able to generate these patterns of motor motion:

Rear motor
CW
CW
CCW
CCW
CW
CW
Mid motor
CW
 
CCW
 
CW
 
Front motor
CCW 
CW
 CW
CCW
CCW
CW

or...

Rear motor
CW
CW
CCW
CCW
CW
CW
Mid motor
CCW
 
CW
 
CCW
 
Front motor
CCW
CW
CW
CCW
CCW
CW

As with the quadcore patterns lay out above, your guess is as good as mine when it comes to the utility of either master / slave motor pattern.

Image

Hexcore
Need a bunch of words here.

 

For more information...


Chiu-Yuan Fang has an interesting 3-motor / 4-leg walker here.

Meanwhile, Rich Piotter's 3-motor / 4-leg walker page is here.


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Page author: Eric Seale
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