TNERA

Bonjour!

has there been any news about a future Toulouse Robot Race?

I am hopeful!

Hi quadmean,

Alan looks great!  It should be a good platform for experimentation.  Did you mention that you are Blogging about it?

Thanks!

Hi All, Oracid,

I hope to get some time for more trials this weekend.

The measurements!  yes, I made the robot wider with some additional parts. The current ratio is currently approximately square 20/19  = ~1.0

I measured from the top pivot points (top of the diamond) for Length, and approximate 'outside' of the leg. 

This ratio has provided more ballance.  i am still looking for improvements.

Here are some more details of this robot.  NOTE:  This is a FRANKENSTEIN Prototype.    it is built mostly with reused 3D printed parts. All of the Dark Green Leg parts were printed so that I could experiment with the 5-Bar design.  Everything else is reused or scrap from previous projects.  This includes the black frames used to mount the servo motors.  My plan is that once this is walking, I will start printing a new chassis with my new-found experiences, also to add the 12DoF.  But first this one must walk.

Here are the pictures:

Length - measured from the pivot points:

 mojo4-length-18dEC.JPG   178,58 Ko   6 téléchargement(s)

Width - measured approximately outside of the legs

 mojo4-width-18dec.JPG   176,81 Ko   6 téléchargement(s)

Top - Yes, this collection of PLA is a mess.  Arduino Pro Mini clone, PCA9685 servo driver, and battery box. The 4 servo boxes are on the sides all held together by random parts that fit, bolted together by M3 screws and nuts, some super glue, and hot glue.  somewhere in there is a 9V battery for the microcontroller, there is a small power switch on the mounting board.

 mojo4-top-18Dec.jpeg   133,36 Ko   6 téléchargement(s)

Battery Box:  3D printed, for 2x 18650 batteries. I reused the spring contacts from small toys.  This is a problem since the spring that I have highlighted with an arrow can not handle the current of the batteries and heats up (to the point of melting the hot glue holding it in place).  something else to fix.

 mojo4-battery-box.JPG   153,3 Ko   6 téléchargement(s)

Here is a picture of the leg configuration.  3D printed, minimal material.  It has been strengthen (i made it thicker) to prevent bending. The pivot points are small common nails placed into tubular channels in the leg components. a very cheap easy way of making a hinge. The paw needs a new design.  the current version is 3D printed, has rubber on the bottom, and part of a wine cork to hold it in place.  reuse! 

 mojo4-leg-18Dec.jpeg   119,7 Ko   6 téléchargement(s)

Any any all recommendations welcomed!  if I am missing something please let me know! 

Hi All, here is a progress update.

Mojo4 is now walking, or at least 'shuffling' in a forward direction. 

..wow.. a lot of issues to overcome:

• Increased the Width (spacing between the sides).  this has helped the stability dramatically.
• upgraded the battery wires, with thicker versions.  I am still having issue with the 'springs' used to hold the 18650 batteries in place. The Spring is heating up!  this needs resolved
• Glued the components to the frame, this keeps them in tack.  But, I am still have some broken circuits with loose connectors.
• The Feet need to have more contact and friction on the floor.  I will look at some small springs to help here.

In general it is standing and walking, next steps will be over all improvement to feet. 

Next also, reviewing the Gait.

Perhaps they are more 'everyday' in Estonia?

These everyday delivery bots got stuck in the Estonian Snow!

https://twitter.com/...2250943491?s=20