2019.06.14(am): 3d printing leg joint
2019.06.13(pm): How many triangular leg mounts should I pick with 3d printer?
Two triangles per each leg. And I have to make 8 legs, so multiply it by 8, 32 mounts with 45 degree angle, 32 mounts with 90 degree angle, 16 mounts with 63.43 degree, 16 mounts with 26.57 degree need. The total number of mounts is 96.
2019 06 13(pm): How to draw gear with gear image on Rhino
The reason I do not use an existing gear is because I have to drill a hole in the gear, so I design it directly for customization. gear online generator : https://geargenerator.com/#200,200,100,6,1,0,0,4,1,8,2,4,27,-90,0,0,16,4,4,27,-60,1,1,12,1,12,20,-60,2,0,60,5,12,20,0,0,0,2,-563 Rhino Design Process(ArrayPollar) 2019 06 13 modified gear sketch files on Rhino
2019.06.13(am): redesign the core-gear for version 5.0
2019 06 13 gear file for strandbeest version 5.0
2019.06.11(pm): How to make leg joints with multiple holes using Grasshopper
Grasshopper diagram Difference center pipe & Difference leg pipe Leg cylinder & Center cylinder Completed Test 3d printing
2019.06.07(am): Four questions I thought yesterday
The problem with the robot now is that the phase of the legs is constantly changing. More software assistance is needed to bring the phase into alignment. How about using the accelerometer gyro sensor MPU6050 to determine the position of the legs? There are two solutions. There must be a line that does not twist, …
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2019.06.05(pm): Test the modified strandbeest model on the ground
It is a state of imbalance in each leg because it is forced to assemble in different state of each leg length. But the reason seems to be that robot is not walking more than the previous version (before using the iron shaft, when it was not rigidly fixed) is legs were shaking more. Now …
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2019.06.05(am): reassemble the modified strandbeest model
It is very regrettable that I have not taken a new assembly process. This work required a high level of concentration and detail. Unless you have a good hardware craftsmanship, you could not complete this task.
2019.06.04(pm): Laser cutting the body plate to be modified and adjust legs
Two points on the Jansen bridge must be fixed to the motor and other fixed axes. Therefore, the part is unstable when connecting joints with bamboo sticks. Only that part was fastened with iron shaft and M4 bolt.