Flexbot

From Rsewiki

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 (there may be simpler ways, but then I don't know)

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