Flexbot

Introduction

Design overview can be found here.

Git repository

Project files can be found here:

Read only access

Get a copy of all

git clone git://repos.gbar.dtu.dk/git/jcan/flexbot.git

This should not ask for a username/password

Read write access

First get a copy of the repository (will be in a subdirectory called 'flexbot'.

git clone https://repos.gbar.dtu.dk/git/jcan/flexbot.git

Then to refresh the copy, go to the flexbot directory and say:

git pull

Adding new files

git add foo.cpp bar.h
git commit -m "commit message (i.e. what was changed)"
git push

After modifying files, this may be easier

git add *.h *.cpp
git commit -m "commit message (i.e. what was changed)"
git push

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