Monday, June 20, 2005

rear view
Keith Rowell Design

In this rear view, the new leg motor brackets can be seen. They move the motors lower (further from the center point of the pivot) to give more leverage. There was plenty of travel here, so the travel lost by moving will not be missed. I'm confident that the tripled power combined with the extra leverage will overcome the hesitancy the 55's exhibited in the legs. The weight shifter however is in such a high torque position, (close to the pivot point) and needs so much travel, I'm keeping my fingers crossed that it wont have to be upgraded yet again.

Also visible in yellow is the lithium battery back pack. The origianl space inside the chest cavity is still available for the hydride prism cells, but the current plan is to use that space as a wire way and take advantge of the higher power density privided by lithium.

The active balance motor (4) had to be mounted underneath. I originally placed it vertically in the space between the leg motors (2,3). I liked the symetrical, vertical positon, but the space between the leg motors (2,3) is used during weight shifting as those motors rotate about the bearing center point shown in "red". With the current configuration, a weight shift rotation of 20deg is possible. The old design was only 14deg.

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