Flexbot
From Rsewiki
Contents |
Introduction
Design overview can be found here.
To do - design change request list.
Documents, drawings and software
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
