Jca: Created page with " Back to Flexbot main page =Overview of working plan= === Initial design and simulation === * Design mechanical solution for wheel turning mechanism * Finish 3D CAD mod..."

2017-06-28T12:36:52Z

Created page with " Back to Flexbot main page =Overview of working plan= === Initial design and simulation === * Design mechanical solution for wheel turning mechanism * Finish 3D CAD mod..."

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Back to [[Flexbot]] main page

=Overview of working plan=

=== Initial design and simulation ===

* Design mechanical solution for wheel turning mechanism
* Finish 3D CAD model of initial design
* Consider mounting options e.g. brackets and holsters for legs and motors
* Design solution for robot moving from 4 wheel balance to standing 2
wheel balance
* Simulate robot going from 4 wheel balance to standing 2 wheel balance

=== Simulate manoeuvrability ===

* Design environment for climbing stairs
* Simulate robot moving up stairs
* Consider design changes as a result of stair climbing

=== Build lower leg ===

* Build assembly of wheel construction with turning ability
* Connecting DC motor to motor driver and wheel construction
* Assembly of lower leg and suspension
* Mounting of linear actuators and wiring
* write teensy code for lower leg
* Test lower leg - from knee down
* Revise simulated model and 3D CAD model and adjust accordingly

=== Build Upper leg ===

* Assembly of upper leg
* Assembly of robot frame
* Wiring and routing wires
* Test full leg
* Revise simulated model and 3D CAD model and adjust accordingly
* Make (final) Bill Of Materials (BOM)

=== Built ===

* Purchase remaining parts
* Build 4 wheel robot
* Make everything available in RHD with remote control

=== Test and Tune ===

* Decide upon initial design of crane setup to catch and carry the robot
around
* Build or buy the crane setup
* Weight the total robot assembly
* Revise simulated model and 3D CAD model and adjust accordingly
* Test that robot can be carried around in a safe manner - mobility
* Tune the linear actuator controllers such that the robot can balance on
4 wheels
* Test loading capacity of robot
* Tune the linear actuator controllers such that the robot can move up and
down
* Tune the DC motor controllers and speed of robot either with mobile
crane or running track
* Outdoor test of suspension, raise and lower, tilt and wheel positions
* Outdoor test of robot driving over uneven terrain
* Implement robot to move from 4 wheel balancing to 2 wheel balancing
* Implement the robot to move up stairs

ProjectPlan - Revision history

Jca: Created page with " Back to Flexbot main page =Overview of working plan= === Initial design and simulation === * Design mechanical solution for wheel turning mechanism * Finish 3D CAD mod..."