Hi everybody ! it’s been a while… I have been quite busy the past few months and I didn’t had time to really work on Animabot… But I didn’t not forget him and I’m back in game and I will do my best to get this little beast walking as soon as possible.
I have to get back to the Kinematic story which is for me quite complicated but I have a short video for you 🙂
Stay tuned !
It’s been a while since the last post… mostly because my new job is taking away most of my time…
But also because I had to fix several issues in Anima before mounting the legs and the upper body. First I had to fix the sound problem, curiously the IR sensor was generating noise which was propagated up to the audio amplifier, thus generating audible noise… To fix it I added to capacitors (100nF & 10µF) on the sensor’s power connection. Then I burned the Li-ion charger 😦 so I had to replace some mosfet and add some heatsinks.
Finally after 20 months of design, tests, doubts, bug fix, etc… Animabot is assembled and ready to walk !!!
Stay tuned 😉
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
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 !
First video of Animabot ! well it’s not the robot yet, only a bunch of electronic boards and 2 servos, but it’s something 🙂 The servos move accordingly to the STm32F4 tilt.
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
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/
- 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
- 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 BUS