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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:
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:
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or...
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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:
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or...
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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.
Hexcore
Need a bunch of words here.
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Meanwhile, Rich Piotter's 3-motor / 4-leg walker
page is here. |
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This page was last updated on |
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