Flexbot: Difference between revisions

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Initial design work


==Plan==
=Introduction=
This is the main page of Flexbot. Here you will find all information and instructions related to the Flexbot project.


=== Initial design and simulation ===
[[File:Flexbot-rendered-115678 gi tonemapped reinhard05.png | 400px]]
<!--[[File:underben-screenshot.png]]-->


* Design mechanical solution for wheel turning mechanism
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 The layout of the main joints are slightly outdated.
* 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 ===
=Information=
[[Repository | GIT repository, documents, drawings and software.]]


* Design environment for climbing stairs
[[flexbot_design| Leg main geometry.]]
* Simulate robot moving up stairs
* Consider design changes as a result of stair climbing


=== Build lower leg ===
[[Flexbot_parts_list | Leg components, electric design, PCB, schematic and firmware]] - PCB layout and part numbers.


* Build assembly of wheel construction with turning ability
[[mavlink| MAVLink communication protocol ]]
* 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 ===
[[Web status page]] for robot.


* Assembly of upper leg
[[3D camera]] from Intel D400 series
* 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 ===
[[Robot installation]] - main processor software


* Purchase remaining parts
[[Web Interface]] - Interface for ROS and browser
* Build 4 wheel robot
* Make everything available in RHD with remote control


=== Test and Tune ===
=Other (older) pages=


* Decide upon initial design of crane setup to catch and carry the robot
[[Flexbot older pages | Assemble instructions and older software and plans]]
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
--[[User:Jca|Jca]] ([[User talk:Jca|talk]]) 12:57, 9 June 2018 (CEST)
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

Latest revision as of 15:22, 15 January 2020

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)

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