9 réponses à ce sujet

[TNERA]

Hi All, 

 

I am still in search of a good mechanism for the TRR#2022! 

 

I was not able to get the 5-bar mechanism (with 2-3 servos) to work well enough to lift the robot chassis reliably. I do believe elastic bands would have helped considerably. However it would have required a significant adjustment to my design. 

 

My design thoughts have wandered. Now I am looking at a running mechanism that was used in a scholarly paper.  It will use two parallel linkages that are driven by a rotating motor. The motion is enough to move and lift the leg of the mechanism. I will be trying to use a single actuator per leg. I will be using 3D printed parts and recycled printer motors, this is part of my overall design philosophy of simplicity, reuse, and recycling of commonly available parts.

 

Here is what I have so far:

 

The picture does depict the initial foot 'path'. With some adjustment, the current prototype has a more typical leveled profile.

 

Here is a video of it in motion:

 

 

I am now working to convert this 2D prototype into something more 3D to handle the side loads.

 

Any thought or suggestions?  you guys are great for that!

[Oracid]

With this type of mechanism, you will definitely win at the TRR.

You could even use just one motor for all 4 legs, with a 180° phase shift between front and back, and right and left.

For the straight line, it's the fastest !

 

Very original, the shoe.

[TNERA]

Thanks for the encouragement!

I think I am still a very long way from winning, ha ha!  Frist I have to get 4 feet on the ground. So we will see.

I am working on making it 3D now. Updates soon, I hope.

[TNERA]

Here is an update, 

 

I have built it out to be thicker, more 3D.  Also starting to fit it for the driving motor.  Here I am using a 12v brushed motor from a recycled printer. It is connected with a 3D printed gearbox for reduction and torque.  

 

 

Here is a short video of it in motion. 

 

 

 

The motor really 'throws' the leg, making a bit of motion.  That motion will be challenging. There will be a second leg that is out of phase, this should hopefully reduce that motion.

 

Next steps - keep building out for stability, mounting the motor, improving the joints/connectors.

[Mike118]

Will we see you at TRR2022 ? =)

[TNERA]

I sure hope so, @Mike118 

but first I need to get a working robot!  8)

 

here is my latest update.  I am working on getting the motor set with the legs.  Also doing minor improvement to the leg components.

 

 

yes, it is running backwards, I flipped the motor at the last minute. haha

[TNERA]

Hi all, 

here is a quick update for the progress this week.  Design on the leg is looking complete.  It is still very prototype, in the video only 1 leg is the current version, the skinny leg is older.  I was able to hack-together a mount for the motor/gearbox. It is still running off of 'shore power' - a wall plug.  

 

here is a quick video:

 

[Oracid]

Almost 3500 views in one day.

Congratulations. 

[TNERA]

Thanks!  I was surprised myself with the number of views.

 

This might be a topic for another board (YouTube algorithms?). There is some crazy stuff going on with YouTube now with the 'shorts' format.

 

@oracid, I know you have a lot more experiences here. maybe in a different thread? 

[Oracid]

 maybe in a different thread? 

https://www.robot-ma...ts-sur-youtube/