This page is on the topic of use of hydraulic cylinders to act as the “prime mover” of a human mimicking robot. The “prime mover” is the device that converts input energy into mechanical motion to get something to move.
If the “prime mover” of a robot is a rotary encoder, then an electrical motor turns its shaft, the shaft turns a gear box, and a connection from the gearbox causes something to move.
For human mimicking robots, I think, their prime mover must satisfy the following criteria simultaneously: 1) small enough, 2) strong enough, 3) they move fast enough. It is my intuition, with current motor technology, for a true human mimicking robot (6ft tall, weighing 200lbs), rotary encoders cannot satisfy all these three criteria at the same time, but hydraulic cylinders can easily and simultaneouly meet these three criteria.
I understand that it is fundamental for modern robots that the CPU of the robot can digitally control the robot’s prime movers and digitally receive sensory information about the status of these prime movers, including accurate, reliable, rapidly, and repeatedly updated information about what is the current measurement value for the amount of extension/retraction of the piston rods of the robot’s hydraulic cylinders. I plan to address these issues in my YouTubes.
I created the design of a hydraulic cylinder robot that carefully mimics the exact form and motions and ranges of motions of a human. I use this design in my discussions where I am pushing out the concept that a true human mimicking robot will need its prime movers to be hydraulic cylinders.
I will create a series of short YouTubes on my YouTube channel discussing various considerations about: “Why a human mimicking robot needs to be powered by hydraulic cylinders.” I will list these YouTubes below (these YouTube links are at the bottom of this page), and as I create more YouTubes, I will try to remember to add their Link to this page, I will add the links in reverse order with the most recent YouTube listed first.
I know people want a true human mimicking robot to be electrically powered, so I tried to create an actuator that was electric. I could not get it to simultaneously and reasonably satisfy the three criteria, the link to that video is included, it was on the topic of a robot attempting to do a deep knee bend.
I think there may be people who would like to “see” the pistonrobot on their own computer screen using their own 3D drawing program. I asked my 3D drawing program to export an FBX file that most high quality 3D drawing programs can import. I put a link here to that FBX so that as people listen and watch my YouTubes, if they want to open and carefully examine the pistonrobot and its stances of walking, they can do this with this FBX. I asked the version of Autodesk Maya on my computer to import this FBX and it seemed to work ok.
I enjoy how beautiful the pistonrobot looks when I look at it in the rendering program Keyshot. I tend to use Keyshot renderings on my website and in my YouTubes. Keyshot can export an FBX of the Keyshot version of the pistonrobot stances. Importing, opening, and using this Keyshot FBX of the pistorobot stances was very slow (at least for Maya in my computer)(I feel I probably did something wrong in the Keyshot/Maya export/import process, but at present I cannot figure out what I did wrong). It was so slow (at least in my Maya), that I feel I cannot recommend importing the Keyshot FBX. But I do include here on this page downloads of large (70mb, 10000 x 6250 pixels, 600 dpi) Keyshot png renders of images showing front and back views of the pistonrobot walking stances. If people want, they can download these images, and then they can open these image files on their computers, and they can minutely look around at various parts and sections of some of walking stances of the pistonrobot.
Enjoy! Dr. Gray
Download 142 mb. This is an FBX file in compressed format. You can extract it, then import the FBX into your 3D drawing program. This file is the pistonrobot in its 22 different stances of walking in a straight line. The 3D drawing this FBX will create shows the Pistonrobot moving through 23 incremental stances to perform one cycle of a stride of straight line walking (1 download )
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