T08A2 / R3000 spider lightweight tank (from GITS)

Hexapod Robots

Re: T08A2 / R3000 spider lightweight tank (from GITS)

Postby PauliusLiekis » Tue Jan 27, 2015 3:32 pm

Matt Denton wrote:If I had a pound for every youtube comment along the lines of "stick a frickin laser on it man!"...


Hahaha :) Well...I guess you should :)
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Re: T08A2 / R3000 spider lightweight tank (from GITS)

Postby PauliusLiekis » Sat Feb 07, 2015 1:02 pm

A little bit more of progress on the legs:

ImageImage

3D printing:
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Polishing (i.e. reducing visibility of 3D printing slices by sand paper and acetone; acetone also gives strength):
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Assembling:
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Puttying (is that a word? :)) (hiding marks of 3D printing even further):
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Painting:
ImageImageImageImageImageImageImageImage


Result:
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"Suspension" of toes:
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I hope to finish main body and the I'll be able to attach the legs. I hope that everything will work once cables are connected (fingers crossed :)) Otherwise I'll have to disassemble (read: break) and redo some parts :)) The original plan was to have ability to disassemble, but that was too complicated, so I skipped that part :)
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Re: T08A2 / R3000 spider lightweight tank (from GITS)

Postby Matt Denton » Sun Feb 08, 2015 10:15 pm

Wow that's a lot of work! Well done. I like the fact you have built compliance into the toes with elastic bands, very cool! :)
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Re: T08A2 / R3000 spider lightweight tank (from GITS)

Postby PauliusLiekis » Thu Feb 12, 2015 1:11 pm

Some more progress - one of the most difficult parts:

Image Image Image Image Image Image
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Re: T08A2 / R3000 spider lightweight tank (from GITS)

Postby PauliusLiekis » Tue Feb 24, 2015 2:26 pm

I found out that the old RaspberryPi (model B) is getting in a way of cables after assembling all printed parts, so I replaced it by newer model A+. Everything fits much better now:
Image

This is how it looked before the painting of details:
Image
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Re: T08A2 / R3000 spider lightweight tank (from GITS)

Postby Matt Denton » Tue Feb 24, 2015 2:38 pm

Wow it's looking great! And now you have a mulit-core Pi! :)
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Re: T08A2 / R3000 spider lightweight tank (from GITS)

Postby hawhaw » Wed Feb 25, 2015 8:36 pm

What an awesome job !!!
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Re: T08A2 / R3000 spider lightweight tank (from GITS)

Postby PauliusLiekis » Mon Mar 30, 2015 11:00 pm

Thanks, guys! :)
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Re: T08A2 / R3000 spider lightweight tank (from GITS)

Postby PauliusLiekis » Mon Mar 30, 2015 11:01 pm

I finally found time to fix electronics.

Main change: I switched to power source with higher voltage (from 5V to 7.5V) - this gives more strength to the legs. One of the main problems was that it was having hard time standing on the legs after putting so much plastic on it. The robot weights ~5kg now. New and shiny power source:
Image
Of course RaspberryPi still needs 5V, so I had to put voltage stabiliser. That leads to some energy loses, but who cares when you're not planning to use batteries and you have 26A :))

I also had to switch to shorter and thicker power cables for servos. And better plugs for those cables too. I'm glad I didn't have to pull any new cables through internals of the robot - it would be very hard to do at this point :) Although I still had to put a relay in the back and some thick cables. It doesn't look nice (when it's open), but it works! :)
Image

I found out that servos in arms take 6V max, so I had to put another voltage stabiliser :) Any change is never as easy as it seems at first sight:)
Image
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Re: T08A2 / R3000 spider lightweight tank (from GITS)

Postby Matt Denton » Tue Mar 31, 2015 7:13 am

Cable size is often overlooked! I've fixed many animatronic issues by beefing up the PSU cables. :) One thing to look out for, by raising the voltage from 5 to 7.5 on your servos, you will gain power but you will also generate more heat!So be careful not to cook them.
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