Revision as of 08:09, 7 September 2017

Flexbot design to do list

Possible improvements, design ideas and other suggestions.

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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

(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. Cut-out for teensy-print should allow more space for cable plugs.
• 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)

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