The Lawsin Linkage, sometimes called the Bowtie Truss, is a double cantilever truss system with connecting elements (links) forming triangular frames. The structure, which forms like a bow-tie or a double inverted king posts, was developed by Joey Lawsin in 1988 to simulate the walking cadence of his biotronics animals. The linkage was designed to meet the following criteria:
1. It must carry out a walking cadence fluidly like an actual living animal's gait.
2. It can conquer any type of terrain obstacles from carpet floors to seabeds.
3. It can move in different directions with various range of actuated motion or R.O.A.M.
4. Its structure elements must be guided by natural mathematics, eg. geometry.
5. It can be integrated with the arduino platform for virtual consciousness programming.
The linkage is consisted of two equilateral triangles that are connected in a
common pivot axis known a pin joint. This type of triangular structures, aside from the isosceles and scalene, are commonly used in bridges, trusses, airfoils, beams, and other frame structures that provide stability, strength, material efficiency, and evenly distribution of
forces.
Mathematically, the Lawsin Links can be
easily computed using basic trigonometry (SOH-CAH-TOA.) and basic mechanics (strength of
materials). The comprehensive details of his computations
will not be discussed here but rather pictures of the basic Bowtie Biomechanical Walker Mechanism will be presented instead.
Geared Stepper Motor 28BYJ-48 5V with ULN2003 driver board /* Stepper Motor Test This sketch test a geared stepper motor. The motor will revolve one revolution forward then backward. The motor is attached to digital pins 8 - 11. */ int i=0; int m=4 void setup() { pinMode(8, OUTPUT); pinMode(9, OUTPUT); pinMode(10, OUTPUT); pinMode(11, OUTPUT); } void loop() { for(i=0;i<512;i++) { forward(); } delay(1000); for(i=0;i<512;i++) { backward(); } delay(1000);...
Comments
Post a Comment