Young humanoid wanted to continue his MPMA (
V1,
V2,
V3) series - but this time, he wanted to use a real mechanical multiplexor. The multiplexor, in theory, was quite simple. Two motors moved up and down on a chassis of beams. This actuation was powered by the third NXT motor. The motors could move into three positions. On each position, the sixteen-tooth gears on the motors meshed with the sixteen-tooth gears on the sides. Thus, the robot could use a total of six functions from three motors, although only a set of two functions could be driven at any one time. The first set drove the treads, giving MPMA V4 the most maneuverable drive base in the series. The second set drove two pneumatic switches - one for the arm's cylinder, one for the claw's cylinder. The final set drove the arm rotation on one output and pneumatic pumps on the other. MPMA V4 is considered by young humanoid to be the best robot in the series to date.
