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Last time, I started a project to build a robot arm which only has one main drive motor, and uses a series of clutches to drive three separate axees.
I’d built something like this before which controlled a differential-drive robot on two wheels. In that project I built two continuously-variable transmissions using a ball which rotates and binds on two wheels. One wheel is driven by the motor, and the other is the output wheel which touches the ground.
As the ball rotates a different length circumference of the ball runs on each wheel which gives us either a reduction or enlargement in velocity. If the ball is rotated in the other direction, we can go into reverse, and there’s a hole in the ball on its very end - so there’s a dead-spot which means we can stop the output. This did however mean that the output wheel could free-wheel in this position.
This ti
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