How the Spider Tank Works.
0Jamius.com (thanks for reminding me to put my website here)\nTo Walk:\n-The main drive motor (M1) turns the gears in a gear box reducing the speed, and incresing the rotational force.\n-The last gear (G1) in the gearbox is longer than the rest and rotates (R1) the main drive gears (G2).\n-The main drive gears (G1) rotate the bottom of the Main drive lever (L1) while the top is restricted to vertical movement. \n-The main drive lever (L1) rotates (R2) the central 6 directional Universal joint (J1).\n\nAt this point the device splits into 2 separate mechanisms. One mechanism is copied 3 times to affect 3 of the legs (A) (every other one), and the other mechanism affects the other 3 legs (B).\n\nMechanism "A" for 3 legs\n\n"X" axis motion\n-The central 6 directional universal joint (J1) rotates (R2) one end of the main horizontal leg lever (L2A) which pivots on a universal joint (J2A) much like a "sea-saw" causing the end of the lever to rotate (R3) in the opposite direction of (R2).\n-This Rotates (R3A) the top of the vertical leg lever (L3A) which pivots much like a "sea-saw" on the small horizontal lever (L4A) causing the bottom, or foot, or the vertical leg lever (L3A) to reverse direction, and rotate (R4A) in the same direction as (R2).\n\n**It is important to note that although the directions of (R2) and (R4A) are the same, they are offset by half of one rotation.\n\n"Z" axis motion\n-If the rotation of the central 6 directional universal joint (J1) changes (see turning below) to (P2), the main horizontal leg lever (L2A) pivots on universal joint (J2A) like an "oar in a rowboat".\n-This causes the entire vertical leg lever (L3A) to rotate (P4A).\n\n**It is important to note that although the directions of (P2) and (P4A) are the same, they are offset by half of one rotation.\n\nThe walking motion in the "X" direction, and in the "Z" direction add together to produce a motion at the foot of the vertical leg lever (L3A) that is always in the same direction of rotation as the central 6 directional universal joint (J1), and is always offset by half of one rotation.\n(The rotation of (J1) can pivot 360 degrees by way of the turning mechanism discussed below)\n\nMechanism "B" for 3 legs\n\n"X" axis motion\n-The central 6 directional universal joint (J1) rotates (R2) a pivot point toward the middle of the main horizontal leg lever (L2B) which pivots at one end on a universal joint (J2B) causing the oppsite end to rotate (R3B) similarly to (R2).\n-This rotates the midsection of the vertical leg lever (L3B) which pivots at its top on the small horizontal leg lever (L4B) causing the bottom or "foot" of the vertical leg lever (L3B) to rotate (R4B) similarly to (R2).\n\n**The 3 the main horizontal leg levers (L2B) share a central space where they all cross the centerpoint of the machine. Since they cannot all occupy the same space the main horizontal leg levers (L2B) contain a curved section (C1) that allows them to "corkscrew around eachother leaving enough space to produce the necessary movements for walking.\n\n"Y" axis motion\n-If the rotation of the central 6 directional universal joint (J1) changes (see turning below) to (P2) the entire main horizontal leg lever (L2B) behaves much "like a sweeping broom". One end of the main horizontal leg lever (L2B) pivots on the universal joint (J2B) and the opposite end rotates similarly to (P2).\n-This causes the entire horizontal leg lever (L3B) to rotate (P4B)\n\n**An extra joint (J3) is required in one end of the small horizontal leg lever (L4B) because its stationary pivot point is not on the same vertical axis as the main horizontal leg levers (L2B) pivot point (J2B)\n\nThe walking motion in the "X" direction, and in the "Z" direction add together to produce a motion at the foot of the vertical leg lever (L3B) that is always in the same direction of rotation as the central 6 directional universal joint (J1), and matches its rotational position.\n(The rotation of (J1) can pivot 360 degrees by way of the turning mechanism discussed below)\n\nTo Turn:\n-To change walking direction of the legs central 6 directional universal joint (J1) must change its direction of rotation. This is done by rotating (R5) the entire central top section of the machine (T1).\n-The central top section of the machine is connected to the outter section (T2) by a large ball bearing (J6) that goes around the perimeter of the central top section (T1) allowing it to rotate.\n-Motor (M2) rotates gears in a gearbox to reduce speed and increase force. The last gear (G3) rests on the central top section (T1). \n-The gear (G3) rotates against a large internal toothed gear that is connected to the outter section (T2).\n-This rotates the entire central top section (T1).\n\n**All electronics (batteries, radio control, etc are mounted in the central top section (T1) to prevent wires from having to cross the large ball bearing (J6) so it can rotate indefinitely.