WTMP Phase 01

[Torquemada Coteaz]

Design Document (Preliminary/Initial)

Project Title: Warlord Titan Mechanisation Project

Phase: 01 – Theoretical Planning

Goals:

>> Primary goals must be achieved.
>> All other goals, based on circumstance, may be ignored.

Primary:
- Construct a scale warlord titan (Standard Mars Pattern)
- Walks (leg joints each have 1 rotational axis)
- Moving Arms (each arm as a whole has 2 rotational axes)
- Moving Head (head has 2 rotational axes – 2 planes of tilt)
- "Mini computer" to control and sync movements, and to provide RC capability
- RC capability
Secondary:
- Add 3rd rotational axis to arms
- Add 2nd rotational axis to legs [hip joints] (allows change to the titan’s path of movement)
- Add rotational axis to waist (allows turning of upper body) [required decision: turns while moving or while stopped] [plausibility ratio Moving : Stopped = High : Low]** Plausibility needs re-evaluation, given current mechanical designs **
- Add vertical tilt plane to shoulder cannons
Tertiary:
- Add a laser pointer to each arm as aiming devices
- Add a red LED to each gun barrel, with remote controlled ON/OFF switch to simulate “fire”. (When “ON” they flash 2-4 times [yet to be decided] before turning “OFF” automatically)
- Add 2 green LEDs to head for “eyes”
- Add a webcam on to each arm, w/ “mini computer” onboard the titan, linking remotely to LCD screens on control set, to simulate gun cameras. ** Plausibility needs re-evaluation **
- Add a webcam in the head, w/ “mini computer” onboard the titan, linking remotely to LCD screen on control set, to simulate the main view screen. ** Plausibility needs re-evaluation **

** Note that “Mini computer” is central, all cameras link to it. It will probably be PCB with a cheap low-class microprocessor and a few circuitry parts, with very little programmability of its own and will run of very simple programs that I will implant onto it. It will be nothing like a laptop. I will almost definitely need one to sync the motors for the walking movements and stuff anyway.

** Note that I will NOT actually be constructing the titan, and then adding parts to it. All “Primary” goals, and some “Tertiary” goals (i.e. easy stuff like LEDs/laser pointers) will be integrated DURING the construction of the parts, NOT after. All other things will be added (if at all) after completion of assembly and will be modifications of current parts or be integrated onto "extra/replacement" parts.

Required Materials:

Projected:

- * TOOLS *(powered and non powered)
- Aluminium struts (w = 1cm to 2.5cm)
- Plasticard (t = 1mm to 4mm)
- Motors (2cmx2cmx4cm approx.)
- LED lights
- Laser pointers
- Smaller metal struts, sheets, etc
- Plastic parts of various kinds
- PVC pipes
- Construction materials
- Used electronic parts (e.g. old iPods, webcams, hard drives, motherboards, etc)
- RC set(s)
- Various nails, screws, etc
- OTHER STUFF I FORGOT TO MENTION!!! (Yeah, I made a list after looking over all my plans and schematics and stuff, but I forgot where I’d put it [my ideas, concepts, etc that are written down get dumped into this large bin, and it’d be too much trouble to flip through a few thousand pages of random kinds of paper to find it]. I’ll be adding to this materials list as I’m putting up the various portions of the plans/schematics. THAT MEANS THIS MATERIALS LIST IS NOT COMPLETE!!! i.e. don’t nag me ;P haha)

Control Unit Design:
- mounted inside a Citadel Miniatures Gaming Case (the small plastic black ones)
- will be a full control set with buttons, switches, analogue sticks, and more - ad nauseum ( i mean have you SEEN what i want to make it do), pseudo-Steel Battalion style.

Diagram:

Coming Soon.

Legend:
Coming Soon.

Projected Time Required:

UNKNOWN – 2 YEARS MINIMUM

A long time, yes, but 40k and Apocalypse are here to stay, so who cares?
Besides, whether or not I get to use this sucker in a game after I make it is completely inconsequential – IT’S BLOODY COOL ON ITS OWN.
Thus Time is of no consequence either.

Given that I’m currently going through the two most important years of my pre-workplace life, and I don’t have much funding, this project will update very slowly. After I finish updating the plans for this, I will basically leave this up for discussion / input / ideas. The actual construction will DEFINTELY not be before Christmas. Construction will also be in a new thread.

Also keep in mind that this is NOT my only extracurricular project. Time must be split between this, my study, my getting of teh moneh, an MMOFPS/RPG hybrid WIP, my regular hobby/gaming, and my EOM-SS Engineering Association projects (currently a MagAcc paintball gun), and more.

Plans:


Coming soon in later posts. (“Posts” as in more than one. It takes up a lot of space. Takes a while to photograph + type up what I wrote on paper so cut me some slack lol)

Detailed Explanations:

Coming soon in later posts. (“Posts” as in more than one. It takes up a lot of space. Takes a while to photograph + type up what I wrote on paper so cut me some slack lol)

++++++++++

Basically this thread is for discussion of concept, design, process and plausibility (based on current ideas and statistical models).

IF THIS THREAD AND/OR PROJECT GOES UN-UPDATED FOR LONG PERIODS OF TIME PLEASE DO NOT NAG ME!
And um, keep in mind that this WILL be very slow, WILL be very tough, and thus WILL have a chance of me throwing in the metaphorical towel.
Much thanks. =]

[Ion Raptor]

PICS! UPDATES! NOW!!!!

just kidding, How do you plan on making it stay upright when it walks? Or will this just be a sliding motion on the floor?

[Inquisitor Rosenadel]

Sounds absoluately monumental. Good luck, mate! We'll be eagerly awaiting updates whenever they come!

[Cagarner]

Yep, it seems Torq has totally lost his sanity. This site has claimed another victim....

This will be interesting to follow. I do hope you manage to get it working.

[Templar Mikeel]

As if a Warlord Titan itself wasn't enough, you decide to motorise it?! Wow, good luck. Oh, I found this yesterday, it might help you, IDK.

linky.

[lord marcus]

it has now begun! insanity, that is! (just wait and see what an enemy player does when he see's i moving!

[Lord Commander Erus]

good luck! if I can help, let me know! I am interested to kinda merge this with mine, wolfpack, and steves projects.

[r4wr89]

wow, that's really ambitious. lookin forward to seeing how this turns out ! :] good luck sir !

[Torquemada Coteaz]

the balance tihng is a major issue
but i think my way works fine
I'll get the various blueprints/diagrams/etc up soon (still scanning/typing lol)

[Lord Commander Erus]

Originally Posted by Torquemada Coteaz

the balance tihng is a major issue
but i think my way works fine
I'll get the various blueprints/diagrams/etc up soon (still scanning/typing lol)

I had been talking to wolfpack about this, and he had mention counter-sinking and weights from lead sinkers and such.. Can't remember it all, but you might wanna ask him.

[Ides]

put the batteries in the legs, that'd be the first thing, as it gives you a decent weight base...

[Lord Commander Erus]

Originally Posted by Ides

put the batteries in the legs, that'd be the first thing, as it gives you a decent weight base...

It's nto so much top heavy as it is forward heavy due to the LONG gun barrels. I'd say add weights in the barrel and extend them past the 'elbows' ala the old armorcast warhounds arm weapons.

[Ides]

In that case would you not want the weight at the back of the model and the waist? If he's building it using an aluminium frame with either PC or metal plating... make the gun barrels out of the lightest possible materials to shift the weight balance...

[Lord Commander Erus]

Originally Posted by Ides

In that case would you not want the weight at the back of the model and the waist? If he's building it using an aluminium frame with either PC or metal plating... make the gun barrels out of the lightest possible materials to shift the weight balance...

True, but the gun barrels being at roughly weight height with their weight helps to keep the model planted/distributed well (as i've noticed with the old armocast models). It's much more beneficial to balance the guns out then make them light enough to neglect.

[Ides]

keep as much of the model's weight on the main frame as you can, that way if you go for a heavier base frame material, most of the weight is on that instead of the joints... Any arm weights would be back at the 'elbows' to keep the balance but should be decided once the motors have been put in place...

[Lord Commander Erus]

Originally Posted by Ides

keep as much of the model's weight on the main frame as you can, that way if you go for a heavier base frame material, most of the weight is on that instead of the joints... Any arm weights would be back at the 'elbows' to keep the balance but should be decided once the motors have been put in place...

Which is what I was saying. I just mucked up saying it.

[Ides]

but you wouldn't put weights on the arms at all if they were light enough, there're going to be two motors in each arm anyway, from what I can gather. One at the shoulder and one at the elbow, which should be weight enough... I imagine the model is also going to pivot at the waist

[hairyyahoo]

whoa whoa whoa...lemmee get this straight...you're gonna build a r/c titan?!? erus, pack yur bags son. this is a crazy idea you ain't never gonna beat!

[Torquemada Coteaz]

Torso rotation will be added, if at all, after primary construction is complete.
This is primarily due to the design which i'm currently employing to balance the hulking machine (and probably won't sound good because it DOES make it very top-heavy)

Plans, Concepts, Designs – post 1

Equilibria:


As you can probably imagine, given the technological restraints that I have, and the limited resources I will be working with (I mean, what am I? NASA?), a 4-ish foot tall hulking monstrosity is bound to have serious problems trying to stay upright while making its powerful strides.

How am I doing this you ask? (Or not ask… I really couldn’t care less because I’ll say it anyway.)

- Firstly I will ensure that the leg movements are linear – that is, in one dimension. (As I stated earlier, this means each joint has 1 plane of movement / rotational axis. Thus the leg moves forward and back)
- Secondly I will ensure that the torso does NOT move.
- Thirdly I will install a mass-shifter mechanism inside the titan’s torso.

Looking at the list I realise that this conflicts with some secondary/tertiary objectives. That’s fine. Like I said I want Primary objectives above all else and the others can be abandoned, or applied as modifications/rework after Primary goals are attained.

Basically a mass-shifter will be a device, sort of like a short segment of rails with 3 “rest positions” for the car. The car will carry a high mass object (probably purchased scientific masses), which will be shifted into the left, right, or centre positions. The rail’s length will be measured perfectly to match balance requirements.

This is to ensure that when a titan has one foot up, its centre of gravity in the approximate centre of its other foot. (The mass shift lefts to a certain position = centre of gravity over left foot, for example)

Note that I just noticed today this does NOT YET take into account forward/backward balance, only left and right.

While both feet are on the ground the mass will be in the “centre” rest position, and thus the centre of gravity will also be in the “centre” position. This does NOT need to be done as both feet are on the ground, but it is preferable for maintaining balance. (in case a RANDOM UNSUPERVISED GAMESTORE KID bumps the table or something…)

I have considered using a gyroscopic stabilizer, but there are several issues that need to be worked out for that to be effective. I may include it, but only as an ADDITION to ASSIST the balance. It cannot work as a standalone. Gyroscopic stabilizers will be addressed later.

The shift of centre of gravity is VERY important, because the location of the centre of gravity is the key to the balance of the titan. The centre of gravity must ALWAYS be in the approximate centre of all ground/object contact points.

Bring It Around Town:


Ok, so Gyros.
How they work: basically, an object spinning around an axis produces momentum, which is parallel to the axis of rotation (iirc). This momentum counteracts forces applied to shift the angle of the axis (i.e. tilt), the amount of force countered depends on momentum created.
How to get the most out of gyros: Basically, you want a design that has the highest MOMENT OF INERTIA. This basically means concentrating the mass on the outer rim of the disk being spun. Also, you want the disks to be as HEAVY as possible, and also as WIDE and FAST as possible.
Why this isn’t good: likely, the disks will be placed in the torso/waist area. Possibly several disks will be stacked (but spaced out a bit between each other) and spun as one. This MAY be heavier than the mass-shifter, and also the power consumption will be higher due to the length of time it must be spinning at top speed (for both cases, on-and-off versus constantly-on) and the very high speed it must maintain.