To do: Difference between revisions

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=Mechanics=
=Mechanics=


* Design of legs is too wide - move support tubes (much) closer
[[Flexbot 3D print]] status
* turn actuator motor inwards


== Foot ==
== Foot ==
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* Assemble motor and motor-mount block with 4x3mm screws into motor - make sure that motor in upright orientation and motor-mount matches wheel-steer-mount orientation.
* Assemble motor and motor-mount block with 4x3mm screws into motor - make sure that motor in upright orientation and motor-mount matches wheel-steer-mount orientation.
* Insert motor and motor-mount assembly into axle and fixate it to wheel-steer-mount with 2x3mm 50mm long screws and self locking nuts.
* Insert motor and motor-mount assembly into axle and fixate it to wheel-steer-mount with 2x3mm 50mm long screws and self locking nuts.
* Tighten motor axle into motor-to-axle-block with 1x6mm pinol
* Tighten motor axle into aluminum flex motor-to-axle and fix it in one end at a time - as possible. Try turn motor or wheel to verify smooth turning.
* Insert 2x long self-cutting screws into steer-mount (a sort of reinforcement of plastic block)
* Mount foot-base (big block) to steer-mount with 4x long self cutting screws
* Mount foot-base (big block) to steer-mount with 4x long self cutting screws


* for steering mount blocks on motor (with strip) and on foot-base (4xsmall self cutting screws)
* for steering mount blocks on motor (with strip) and on foot-base (4xsmall self cutting screws)
* Mount Firgelli actuator for steering actuation with 2x 4mm 25-35mm long screws and self locking nuts.
* Mount Firgelli actuator for steering actuation with 2x 4mm 25-35mm long screws and self locking nuts.
[[File:foot+motor.png|400px]]
Front right wheel and foot part.


====Motor and turn part====
====Motor and turn part====
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(first number is priority, 1. is must, 2. is can maybe do without, 3. would be nice)
(first number is priority, 1. is must, 2. is can maybe do without, 3. would be nice)


* 1. Link between motor and wheel axle must be made in steel (not plastic)
* 2. Turn (king-pin) bolt should be 5mm, and with bigger cone for the screw.
* 2. Turn (king-pin) bolt should be 5mm, and with bigger cone for the screw.
* 3. Cut-out for motor (on face with motor axle), for raised ring on motor, should be bigger in diameter.
* 3. Cut-out for motor (on face with motor axle), for raised ring on motor, should be bigger in diameter.


====Big block====
====Big block====
* 2. Cut-out for teensy-print should allow more space for cable plugs.
* 2. Make hole for motor driver cooling.
* 2. Make hole for motor driver coolong.
* 3. Space (width) for shock absorber mount should be smaller.
* 3. Width of block could be smaller (as knee 10cm).
* 3. Hole for PCB should be better - do not fit into slide (maybe 6cm).
* 2. use higher temperature for orange PETG plastic print (165 degree, not 162)
* 2. use higher temperature for orange PETG plastic print (165 degree, not 162)


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==Communication==
==Communication==
* Losing IMU i2c communication at knee


==Control==
==Control==

Latest revision as of 14:56, 8 June 2018

Flexbot design to do list

Possible improvements, design ideas and other suggestions.

Back to Flexbot main page

Mechanics

Flexbot 3D print status

Foot

Assembly order:

  • Fix connection (motor-to-axle-mount) to wheel axle with 2x4mm short screws, before inserting into alu wheel-stear-mount
  • Alu wheel-steer-mount (with 4 bearings), insert axle assembly (from above) and secure it with wheel-nut - and fasten with pinol
  • Insert 5-6mm cylinder peace into turn bearings in wheel-steer-mount, and mount into steer-mount (non turning part) with 2x5mm screws and self-locking nuts. Make sure turn motion is OK.
  • Assemble motor and motor-mount block with 4x3mm screws into motor - make sure that motor in upright orientation and motor-mount matches wheel-steer-mount orientation.
  • Insert motor and motor-mount assembly into axle and fixate it to wheel-steer-mount with 2x3mm 50mm long screws and self locking nuts.
  • Tighten motor axle into aluminum flex motor-to-axle and fix it in one end at a time - as possible. Try turn motor or wheel to verify smooth turning.
  • Mount foot-base (big block) to steer-mount with 4x long self cutting screws
  • for steering mount blocks on motor (with strip) and on foot-base (4xsmall self cutting screws)
  • Mount Firgelli actuator for steering actuation with 2x 4mm 25-35mm long screws and self locking nuts.

Front right wheel and foot part.

Motor and turn part

(first number is priority, 1. is must, 2. is can maybe do without, 3. would be nice)

  • 2. Turn (king-pin) bolt should be 5mm, and with bigger cone for the screw.
  • 3. Cut-out for motor (on face with motor axle), for raised ring on motor, should be bigger in diameter.

Big block

  • 2. Make hole for motor driver cooling.
  • 2. use higher temperature for orange PETG plastic print (165 degree, not 162)

Steering

  • 1. Mount block on foot do not allow full actuator movement
  • 2. Mount of Firgelli too sloppy, maybe a plastic adaptor in each end?
  • 1. Mount block in foot end has too small screws, and may be too week.

Knee

Hip

Main body

Electronics

Power

  • Main power 6-cell LiPo nominel 22.2V (between 20V and 28.5V)

Teensy

  • Teensy 3.2 and Teensy 3.5 for (first level) real time control loops

Main PC

  • Look at a Intel Nuc

Sensors

Matlab Model

Software

Communication

  • Losing IMU i2c communication at knee

Control

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