ATR3-b1: Clutch actuation

ATR3-b1's clutch  is depressed and retracted by a double-acting 7" pneumatic cylinder fed by a pair of Pressure/Exhaust (P/E) valves that deliver a pressure differential 0f plus or minus 85psi between the cylinder ends.  (The pair can also deliver a pressure differential of 0, but this mode is not utilized.)  The cylinder's 3/4" bore can therefore deliver pi*(3/4"/2)^2*85psi = 38lb force when either retracting or extending.  This should be enough to disengage ATR3's clutch, though a larger or se...

Power Sources, or, Why ATR3 is powered by a combustion engine

I am not inclined to work with combustion engines, given their vibration, heat, noise, and maintenance requirements.  Moreover, combustion engines have a significant zero offset in their fuel consumption vs energy output function; ATR3's engine consumes 1/3 gallon (1.25 liters) of gasoline per hour at idle.  Unfortunately, while electric motors can readily convert electrical energy to a rotary form, I am not aware of an alternative energy storage medium that can accomplish all three of the f...

ATR2: Brain fail

ATR2's original brain, an Asus Eee 701, would not power up one day.  Upon disassembly: If you don't see the blown IC, click through to the enlarged version and look near the center of the image.  That chip, located in the power supply area, should be all black silicon, not half-black-half-melted.  Aneurysm? Turns out that Asus has fantastic warranty support.  I mailed it in, they mailed it back with a new motherboard.  Unfortunately, since the 701's solid state hard disk is soldered on...

ATR3 (“Anton”) build 0

ATR3 ("Anton") is a first attempt at repurposing vehicles designed for human operators, in this case a 1995 Murray garden tractor.  A used car or truck with more advanced electronics (tachometer, fuel gauge, automatic electronic choke, power steering) would be easier to convert and offer higher speeds and towing power, but would require a much larger testing site and pose a significant danger to structures and bystanders.  ATR3 is pictured here in build 0 (initial state), as acquired for $25...