1 Mar 2010
This is a gravity escapement clock built using a Lego Mindstorms and Resource kit. Torque is maintained on the escapement during rewinding which occurs automatically approximately every 80 seconds. The motor is an eccentric weight on the main drive gear and a light sensor is used to detect when the clock needs to rewind. The motor drives a small gear that climbs around the main drive gear until a touch sensor is reached. The gravity escapement applies the same impulse to the pendulum independent of the torque applied to the escapement. The sensors and motors are controlled using a simple Matlab program that connects to the NXT using the USB port.