To do: Difference between revisions
From Rsewiki
No edit summary |
No edit summary |
||
| Line 5: | Line 5: | ||
Back to [[Flexbot]] main page | Back to [[Flexbot]] main page | ||
=Mechanics= | |||
* Design of legs is too wide - move support tubes (much) closer | * Design of legs is too wide - move support tubes (much) closer | ||
* turn actuator motor inwards | * turn actuator motor inwards | ||
== Foot == | |||
Assembly order: | Assembly order: | ||
| Line 37: | Line 37: | ||
* use higher temperature for orange PETG plastic (165 degree, not 162) | * use higher temperature for orange PETG plastic (165 degree, not 162) | ||
==Knee== | |||
==Hip== | |||
==Main body== | |||
=Electronics= | |||
==Power== | |||
* Main power 6-cell LiPo nominel 22.2V (between 20V and 28.5V) | * 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 | * Teensy 3.2 and Teensy 3.5 for (first level) real time control loops | ||
==Main PC== | |||
* Look at a Intel Nuc | * Look at a Intel Nuc | ||
==Sensors== | |||
=Matlab Model= | |||
=Software= | |||
==Communication== | |||
==Control== | |||
Revision as of 13:26, 28 June 2017
Flexbot design to do list
Possible improvements, design ideas and other suggestions.
Back to Flexbot main page
Mechanics
- Design of legs is too wide - move support tubes (much) closer
- turn actuator motor inwards
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 motor-to-axle-block with 1x6mm pinol
- 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
- 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.
Motor and turn part
- Link between motor and wheel axle must be made in steel (not plastic)
- Turn (king-pin) bolt should be 5mm, and with bigger cone for the screw.
- Cut-out for motor, for raised ring on motor, should be bigger.
Big block
- Cut-out for teensy-print should allow more space for plugs.
- Space for shock absorber should be smaller.
- Width of block could be smaller.
- Pinol hole to secure PCB should be shorter - or big entry hole.
- use higher temperature for orange PETG plastic (165 degree, not 162)
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
