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| =Introduction= | | =Introduction= |
| | This is the main page of Flexbot. Here you will find all information and instructions related to the Flexbot project. |
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| [[flexbot_design|Design overview]] can be found here. | | [[File:Flexbot-rendered-115678 gi tonemapped reinhard05.png | 400px]] |
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| [[To do]] - design change request list. | |
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| [[Flexbot_parts_list | Flexbot parts list]]
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| =Git repository=
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| Project files can be found here.
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| For the time beeing there is 3Dprinter files (*.stl) and some documentation files (mostly product specification)
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| Use this page to browse: https://repos.gbar.dtu.dk/gitweb/?p=jcan/flexbot.git;a=tree
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| == Read only access==
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| Get a copy of all
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| git clone git://repos.gbar.dtu.dk/git/jcan/flexbot.git
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| This should not ask for a username/password
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| == Read write access ==
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| First get a copy of the repository (will be in a subdirectory called 'flexbot'.
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| git clone https://repos.gbar.dtu.dk/git/jcan/flexbot.git
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| Then to refresh the copy, go to the flexbot directory and say:
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| git pull
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| Adding new files
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| git add foo.cpp bar.h
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| git commit -m "commit message (i.e. what was changed)"
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| git push
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| After modifying files, this may be easier (there may be simpler ways, but then I don't know)
| | Figure 1. Nice model of a Flexbot leg. The green parts are the main joints, foot, knee and hip. The black tubes are 16mm carbon fibre tubes, at the ends there are black plastic blocks, that connects the tube to the joint axle. The aluminium colourized parts are actuators and the base frame of the robot. The layout of the main joints are slightly outdated. |
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| git add *.h *.cpp
| | =Information= |
| git commit -m "commit message (i.e. what was changed)"
| | [[Repository | GIT repository, documents, drawings and software.]] |
| git push
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| =Overview of working plan=
| | [[flexbot_design| Leg main geometry.]] |
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| === Initial design and simulation ===
| | [[Flexbot_parts_list | Leg components, electric design, PCB, schematic and firmware]] - PCB layout and part numbers. |
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| * Design mechanical solution for wheel turning mechanism
| | [[mavlink| MAVLink communication protocol ]] |
| * Finish 3D CAD model of initial design
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| * Consider mounting options e.g. brackets and holsters for legs and motors
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| * Design solution for robot moving from 4 wheel balance to standing 2
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| wheel balance
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| * Simulate robot going from 4 wheel balance to standing 2 wheel balance
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| === Simulate manoeuvrability ===
| | [[Web status page]] for robot. |
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| * Design environment for climbing stairs
| | [[3D camera]] from Intel D400 series |
| * Simulate robot moving up stairs
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| * Consider design changes as a result of stair climbing
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| === Build lower leg ===
| | [[Robot installation]] - main processor software |
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| * Build assembly of wheel construction with turning ability
| | [[Web Interface]] - Interface for ROS and browser |
| * Connecting DC motor to motor driver and wheel construction
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| * Assembly of lower leg and suspension
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| * Mounting of linear actuators and wiring
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| * write teensy code for lower leg
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| * Test lower leg - from knee down
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| * Revise simulated model and 3D CAD model and adjust accordingly
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| === Build Upper leg === | | =Other (older) pages= |
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| * Assembly of upper leg
| | [[Flexbot older pages | Assemble instructions and older software and plans]] |
| * Assembly of robot frame
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| * Wiring and routing wires
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| * Test full leg
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| * Revise simulated model and 3D CAD model and adjust accordingly
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| * Make (final) Bill Of Materials (BOM)
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| === Built ===
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| * Purchase remaining parts
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| * Build 4 wheel robot
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| * Make everything available in RHD with remote control
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| === Test and Tune ===
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| * Decide upon initial design of crane setup to catch and carry the robot
| | --[[User:Jca|Jca]] ([[User talk:Jca|talk]]) 12:57, 9 June 2018 (CEST) |
| around
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| * Build or buy the crane setup
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| * Weight the total robot assembly
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| * Revise simulated model and 3D CAD model and adjust accordingly
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| * Test that robot can be carried around in a safe manner - mobility
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| * Tune the linear actuator controllers such that the robot can balance on
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| 4 wheels
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| * Test loading capacity of robot
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| * Tune the linear actuator controllers such that the robot can move up and
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| down
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| * Tune the DC motor controllers and speed of robot either with mobile
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| crane or running track
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| * Outdoor test of suspension, raise and lower, tilt and wheel positions
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| * Outdoor test of robot driving over uneven terrain
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| * Implement robot to move from 4 wheel balancing to 2 wheel balancing
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| * Implement the robot to move up stairs
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Introduction
This is the main page of Flexbot. Here you will find all information and instructions related to the Flexbot project.
Figure 1. Nice model of a Flexbot leg. The green parts are the main joints, foot, knee and hip. The black tubes are 16mm carbon fibre tubes, at the ends there are black plastic blocks, that connects the tube to the joint axle. The aluminium colourized parts are actuators and the base frame of the robot. The layout of the main joints are slightly outdated.
Information
GIT repository, documents, drawings and software.
Leg main geometry.
Leg components, electric design, PCB, schematic and firmware - PCB layout and part numbers.
MAVLink communication protocol
Web status page for robot.
3D camera from Intel D400 series
Robot installation - main processor software
Web Interface - Interface for ROS and browser
Other (older) pages
Assemble instructions and older software and plans
--Jca (talk) 12:57, 9 June 2018 (CEST)
