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[Gzz-commits] manuscripts/Control1 poster.rst
From: |
Tuomas J. Lukka |
Subject: |
[Gzz-commits] manuscripts/Control1 poster.rst |
Date: |
Mon, 05 May 2003 09:00:03 -0400 |
CVSROOT: /cvsroot/gzz
Module name: manuscripts
Changes by: Tuomas J. Lukka <address@hidden> 03/05/05 09:00:02
Modified files:
Control1 : poster.rst
Log message:
tips
CVSWeb URLs:
http://savannah.gnu.org/cgi-bin/viewcvs/gzz/manuscripts/Control1/poster.rst.diff?tr1=1.18&tr2=1.19&r1=text&r2=text
Patches:
Index: manuscripts/Control1/poster.rst
diff -u manuscripts/Control1/poster.rst:1.18
manuscripts/Control1/poster.rst:1.19
--- manuscripts/Control1/poster.rst:1.18 Mon May 5 08:54:03 2003
+++ manuscripts/Control1/poster.rst Mon May 5 09:00:02 2003
@@ -143,12 +143,47 @@
While interrelated, the second problem is more relevant
to robotics and has therefore been dealt with in that context
due to the popularity of the LEGO Mindstorms.
+See e.g. REF!!
Mechanical looseness is a different matter; it suggests
the following design rules:
- No frictionless pins. For controllers, the frictionless pins are next to
useless
except in special circumstances due to their looseness.
+
+- A high gear ratio at the very beginning of the gearing is vital
+ to alleviate the looseness in the next gears.
+
+- Axles used in gears must be attached at several points, far enough
+ from each other.
+
+- All joints where there is significant force should be designed
+ symmetrically, using e.g. 3-long pins with friction. The symmetry
+ makes the looseness in one direction much less. (This is similar
+ to taking the numerical derivative of a function
+
+.. raw latex
+
+ $f(x)$
+
+ at
+
+.. raw latex
+
+ $x$
+
+ as
+
+.. raw latex
+
+ $(f(x+\epsilon/2) - f(x-\epsilon/2)) / \epsilon$
+
+ instead of
+
+.. raw latex
+
+ $(f(x+\epsilon) - f(x)) / \epsilon$
+
Conclusion
==========
- [Gzz-commits] manuscripts/Control1 poster.rst, (continued)
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Asko Soukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst,
Tuomas J. Lukka <=
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Asko Soukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Asko Soukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Matti Katila, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Matti Katila, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Janne V. Kujala, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05
- [Gzz-commits] manuscripts/Control1 poster.rst, Tuomas J. Lukka, 2003/05/05