To do

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Back to [[Flexbot]] main page
 
Back to [[Flexbot]] main page
  
==Mechanics==
+
=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 ===
+
== 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===
+
==Knee==
  
===Hip===
+
==Hip==
  
===Main body===
+
==Main body==
  
==Electronics==
+
=Electronics=
  
===Power===
+
==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==
  
 
* 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===
+
==Main PC==
  
 
* Look at a Intel Nuc
 
* Look at a Intel Nuc
  
===Sensors===
+
==Sensors==
  
===Matlab Model===
+
=Matlab Model=
  
===Software===
+
=Software=
  
====Communication====
+
==Communication==
  
====Control====
+
==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

Contents

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

Sensors

Matlab Model

Software

Communication

Control

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