To do
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=Mechanics= | =Mechanics= | ||
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== Foot == | == Foot == | ||
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====Big block==== | ====Big block==== | ||
| − | + | * 2. Make hole for motor driver cooling. | |
| − | * 2. Make hole for motor driver | + | |
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* 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) | ||
Revision as of 12:52, 22 November 2017
Flexbot design to do list
Possible improvements, design ideas and other suggestions.
Back to Flexbot main page
Contents |
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 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
(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
