drs-0101

All posts tagged drs-0101

Animabot Rev2 – Tibias + Head

Posted by Emmanuel Sichet on 22/06/2015
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Hello ! I finished printing all the tibias and I’m now the coxas print… I also sprayed some rubber at the end of the tibia to avoid slipping.

Tibias mounted on femur
Slip-proof bumper
Tibia + femur overview

I also completely finish the head assembly

Front view
Rear view
Inside
Inside

As always, stay tuned 😉

Animabot Rev2 – Femur + Head assembly

Posted by Emmanuel Sichet on 16/06/2015
Posted in: Animabot Rev2. Tagged: , , , , . 2 Comments

Hi all, So this weekend I have been working on the Coxa/Tibia design, and how to print them in the best way. These parts are now ready for “mass production” !

Cables managment in the femur
Workspace for assembly
Femur assembled
Femur assembled
How to print a tibia !

I also printed the head, and began the assembly. All the parts are done, just need the body to put it on 😉

Front view of head
Servo and webcam integrated

I hope I can get finished with the 4 left tibias this weekend…

Stay tuned, more to come soon !

Animabot Rev2 – Boards programming

Posted by Emmanuel Sichet on 05/02/2015
Posted in: Animabot Rev2. Tagged: , , , , . 9 Comments

Hey, It’s been a long time since I posted news on Animabot 😉 I didn’t advanced much on the software but I can now talk to the servos which is a very good news 🙂 I still have to make all the functions to control them correctly (setPosition, getPosition, moveAll, setTorque, getTemp, etc.) but it will be more interesting !

I’m still waiting for my 3D printer… and it begins to annoy me…

Servos are alive !
Servos are alive !
STM32F4 under programming

Animabot Rev2 – Servomotors

Posted by Emmanuel Sichet on 28/03/2014
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Last week I received the new servomotors, I opted for numerical servos because they are much more powerful than the Hitec HS311 and they have much more options.

So I chose HerkuleX servos from Dongdu Robot, they are very similar to the Dynamixel but half the price for the same quality !

There are available on dfrobot.

I have not tested them yet because I am waiting for a Uart converter (3,3v to TTL). The STM32F4 is running on 3,3v but the motors need a TTL logic… Anyway, now I have them, so I will be able to begin the design in Solidwork \o/

HerkuleX DRS-0101
HerkuleX DRS-0101
Mechanical specification
  • Carbon Brush Cored DC Motor
  • A lot of adapting pieces
  • Rotation angle range: 320° Continuous Rotation
  • Resolution: 0.325°
  • Stall torque: 12kg.cm （7.4v）
  • Maximum Speed: 0.166s/60° (7.4v)
  • Gear: 1:266, Super Engineering Plastic
  • Size: 45mm(W) x 24.0mm(D) x 31mm(H)
  • Weight: 45g
Electrical specification 
  • Working Voltage: 7~12VDC(Optimized 7.4V)
  • Rated Current: 450mA @ 7.4V : 1.7kgf.cm
  • Communication Link: Full Duplex Asynchronous Serial(TTL Level), Binary Packet, Multi Drop
  • Multi control through Servo ID: 0 ~ 253, 254(Broadcast only)
  • Maximum Baud Rate: 0.67Mbps
  • Feedback: Position, Speed, Temperature, Load, Voltage etc.
  • Various Control Algorithm: PID, Feedforward, Trapezoidal Velocity Profile, Velocity Override, Torque Saturator & Offset, Overload Protection, Neutral Calibration, Dead Zone

 

One great advantage is that the motors can be connected to the bus, which save a lot of connectors and space for cables.

HerkuleX DRS-0101

HerkuleX DRS-0101 BUS