/[gzz]/manuscripts/Control1/poster.rst
ViewVC logotype

Diff of /manuscripts/Control1/poster.rst

Parent Directory Parent Directory | Revision Log Revision Log | View Patch Patch

revision 1.18 by humppake, Mon May 5 12:54:03 2003 UTC revision 1.19 by tjl, Mon May 5 13:00:02 2003 UTC
# Line 143  obtaining a rugged structure. Line 143  obtaining a rugged structure.
143  While interrelated, the second problem is more relevant  While interrelated, the second problem is more relevant
144  to robotics and has therefore been dealt with in that context  to robotics and has therefore been dealt with in that context
145  due to the popularity of the LEGO Mindstorms.  due to the popularity of the LEGO Mindstorms.
146    See e.g. REF!!
147    
148  Mechanical looseness is a different matter; it suggests  Mechanical looseness is a different matter; it suggests
149  the following design rules:  the following design rules:
# Line 150  the following design rules: Line 151  the following design rules:
151  - No frictionless pins.  For controllers, the frictionless pins are next to useless  - No frictionless pins.  For controllers, the frictionless pins are next to useless
152    except in special circumstances due to their looseness.    except in special circumstances due to their looseness.
153    
154    - A high gear ratio at the very beginning of the gearing is vital
155      to alleviate the looseness in the next gears.
156    
157    - Axles used in gears must be attached at several points, far enough
158      from each other.
159    
160    - All joints where there is significant force should be designed
161      symmetrically, using e.g. 3-long pins with friction. The symmetry
162      makes the looseness in one direction much less. (This is similar
163      to taking the numerical derivative of a function
164    
165    .. raw latex
166    
167        $f(x)$
168    
169      at
170    
171    .. raw latex
172    
173        $x$
174      
175      as
176    
177    .. raw latex
178    
179        $(f(x+\epsilon/2) - f(x-\epsilon/2)) / \epsilon$
180    
181       instead of
182    
183    .. raw latex
184    
185        $(f(x+\epsilon) - f(x)) / \epsilon$
186      
187    
188  Conclusion  Conclusion
189  ==========  ==========
190    

Legend:
Removed from v.1.18  
changed lines
  Added in v.1.19

savannah-hackers-public@gnu.org
ViewVC Help
Powered by ViewVC 1.1.26