Bren - My home Build

Discussions regarding building a walking robot at home. Most of the robots participating at Robo-One competitions are custom fabricated.
24 postsPage 1 of 21, 2
24 postsPage 1 of 21, 2

Bren - My home Build

Post by Robo1 » Mon Nov 27, 2006 2:03 pm

Post by Robo1
Mon Nov 27, 2006 2:03 pm

Hello

I thought I would start my own thread for my build.

I'm going to build a world betting robo-one. I've ordered some DX-117 to start with and I'm in the process of CADing up a design.

I'm going for 21 dof design.

The board will be a xilinx fpga not know how many AND gates I need yet but I would say lots.

Other things that people might be interested in is the fact that I have access to a rapid prototyping machine that I have been using other the last couplle of weeks to try out some different design's. It's going well had will hopefully get some pics up in the next week or two.

bren
Hello

I thought I would start my own thread for my build.

I'm going to build a world betting robo-one. I've ordered some DX-117 to start with and I'm in the process of CADing up a design.

I'm going for 21 dof design.

The board will be a xilinx fpga not know how many AND gates I need yet but I would say lots.

Other things that people might be interested in is the fact that I have access to a rapid prototyping machine that I have been using other the last couplle of weeks to try out some different design's. It's going well had will hopefully get some pics up in the next week or two.

bren
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Post by Joe » Mon Nov 27, 2006 11:27 pm

Post by Joe
Mon Nov 27, 2006 11:27 pm

Sounds like a monster. Can't wait to see it!
Sounds like a monster. Can't wait to see it!
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Post by Robo1 » Sat Dec 23, 2006 11:01 pm

Post by Robo1
Sat Dec 23, 2006 11:01 pm

Some photos

Image


A picture of a Kondo KRS788 next to a rapid prototyped CAD file of the said servo. This was just a test to see if the CAD file I made was accurate.

Image

Sorry for the rubbish focus :oops: it's of a two axis servo design for the foot or hip.

Image

A DX-117 next to a Kondo KRS788 (standard in the KHR-2).

Hopefully will have a design for this by the new year. It should only take a month after that but they always takes longer then you expected .

bren [/img]
Some photos

Image


A picture of a Kondo KRS788 next to a rapid prototyped CAD file of the said servo. This was just a test to see if the CAD file I made was accurate.

Image

Sorry for the rubbish focus :oops: it's of a two axis servo design for the foot or hip.

Image

A DX-117 next to a Kondo KRS788 (standard in the KHR-2).

Hopefully will have a design for this by the new year. It should only take a month after that but they always takes longer then you expected .

bren [/img]
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Post by Robo1 » Sat Dec 30, 2006 6:46 pm

Post by Robo1
Sat Dec 30, 2006 6:46 pm

I pic of the design so far.

Image

Have been concentrating on the legs so the body looks a bit odd.

bren
I pic of the design so far.

Image

Have been concentrating on the legs so the body looks a bit odd.

bren
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Post by hivemind » Sat Dec 30, 2006 8:36 pm

Post by hivemind
Sat Dec 30, 2006 8:36 pm

Hey Bren,

So you are looking at a 21 DOF robot. Are you using waist rotation? (I presume you are given the gap there). Does that mean no moving "hands" and no rotating head?

How are the double knee joints working out for you? Do they limit mobility near the ankle at all? I experimented with them at one point and I found that I had to put them rather far away from the ankle if I wanted to stick with a full range of motion.

I am also curious as to how many DX-117 are being put to use in your design. Perhaps switching one of these in for the knee would free up other servos for hands? The DX-117 has 33 kg/cm for torque and .145 s/60 degree for speed, at 14.4V, which is amazing. What are you getting from the other two servos there?

Looks nice so far.

-Hive
Hey Bren,

So you are looking at a 21 DOF robot. Are you using waist rotation? (I presume you are given the gap there). Does that mean no moving "hands" and no rotating head?

How are the double knee joints working out for you? Do they limit mobility near the ankle at all? I experimented with them at one point and I found that I had to put them rather far away from the ankle if I wanted to stick with a full range of motion.

I am also curious as to how many DX-117 are being put to use in your design. Perhaps switching one of these in for the knee would free up other servos for hands? The DX-117 has 33 kg/cm for torque and .145 s/60 degree for speed, at 14.4V, which is amazing. What are you getting from the other two servos there?

Looks nice so far.

-Hive
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Post by DerekZahn » Sat Dec 30, 2006 10:57 pm

Post by DerekZahn
Sat Dec 30, 2006 10:57 pm

Nice looking design! If Wallace and Gromit build a Robo-One I bet it would look something like that!

Good luck with the project and I'm looking forward to seeing more progress!
Nice looking design! If Wallace and Gromit build a Robo-One I bet it would look something like that!

Good luck with the project and I'm looking forward to seeing more progress!
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Post by Robo1 » Sun Dec 31, 2006 2:58 pm

Post by Robo1
Sun Dec 31, 2006 2:58 pm

I've got 4 DX-117 so far and going to buy some more soon. Will use them through out the robot. It will have waist rotation and the hands and head will be design soon.

bren
I've got 4 DX-117 so far and going to buy some more soon. Will use them through out the robot. It will have waist rotation and the hands and head will be design soon.

bren
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Post by robbybot » Thu Feb 08, 2007 9:16 pm

Post by robbybot
Thu Feb 08, 2007 9:16 pm

hows the build going bren, i was going down the dx 117 route but may now be going to redesign a new robot using the new rx 28 robotis servos or if my house sale goes well dare i say the rx 64 (beast!). anyway my build thread is over on tribotix forum along with hivemind's.
im stilling waiting for funds but have managed to blag a grant for buisiness start up which when arrives could cover the servos at least.
keep it up mate ill be joining you at robo one :twisted: :lol:
[/img][/url]
hows the build going bren, i was going down the dx 117 route but may now be going to redesign a new robot using the new rx 28 robotis servos or if my house sale goes well dare i say the rx 64 (beast!). anyway my build thread is over on tribotix forum along with hivemind's.
im stilling waiting for funds but have managed to blag a grant for buisiness start up which when arrives could cover the servos at least.
keep it up mate ill be joining you at robo one :twisted: :lol:
[/img][/url]
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Post by Robo1 » Fri Feb 09, 2007 10:38 am

Post by Robo1
Fri Feb 09, 2007 10:38 am

The project is going well.

I have a prototype of the legs but I just need to take a photo and post it here.

At the moment I'm still trying to design the legs on version 3 but still not happy. Will post the CAD picture when I'm happy with the design.

After playing with the DX-117 I love them.

I thought about the 64's but there double the strength but double the size so I didn't think it would be worth it.

I've looked at your post over at tribotix, your manufacturing engineering degree should be good but have you thought about a robotics degree. I'm currently doing a 1 year masters degree in robotics and I love it. I did my undergraduate course in computer science.

Bren
The project is going well.

I have a prototype of the legs but I just need to take a photo and post it here.

At the moment I'm still trying to design the legs on version 3 but still not happy. Will post the CAD picture when I'm happy with the design.

After playing with the DX-117 I love them.

I thought about the 64's but there double the strength but double the size so I didn't think it would be worth it.

I've looked at your post over at tribotix, your manufacturing engineering degree should be good but have you thought about a robotics degree. I'm currently doing a 1 year masters degree in robotics and I love it. I did my undergraduate course in computer science.

Bren
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Post by robbybot » Fri Feb 09, 2007 6:16 pm

Post by robbybot
Fri Feb 09, 2007 6:16 pm

the build sounds great , im kinda up in the air on my actual design at the moment ! hivemind has put his cad drawings up and i also like the robovie v3 so something inbetween. meanwhile ive got some other dad drawings that i am getting brackets made up for me which are designed for the dx 117, a mates got a a water jet machine workshop and bending section so mates rates apply! :lol:
ive also been cheeky and applied for a lcal buisness start up grant as i hope to use the robot to do demos in schools etc- cant hurt! :wink:
i fully intend to actually get a robovie v3 as my personnel robot and gain experience with that as i develop my protoype alongside.
as for courses i chose the engineering cos it provides me with more employment options locally(my kids are here so i need to be close as they are still small) whilst giveing me some very useful generic skills towards robotics. i am also registered for a 10 week robotics course in may so that should help.
im also struggling to teach myself very basic robot code from a book called "an introduction to robotics " by harprit sandhu.
any newbie robot programming book suggestions would be appreciated! 8O
the build sounds great , im kinda up in the air on my actual design at the moment ! hivemind has put his cad drawings up and i also like the robovie v3 so something inbetween. meanwhile ive got some other dad drawings that i am getting brackets made up for me which are designed for the dx 117, a mates got a a water jet machine workshop and bending section so mates rates apply! :lol:
ive also been cheeky and applied for a lcal buisness start up grant as i hope to use the robot to do demos in schools etc- cant hurt! :wink:
i fully intend to actually get a robovie v3 as my personnel robot and gain experience with that as i develop my protoype alongside.
as for courses i chose the engineering cos it provides me with more employment options locally(my kids are here so i need to be close as they are still small) whilst giveing me some very useful generic skills towards robotics. i am also registered for a 10 week robotics course in may so that should help.
im also struggling to teach myself very basic robot code from a book called "an introduction to robotics " by harprit sandhu.
any newbie robot programming book suggestions would be appreciated! 8O
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Post by Robo1 » Fri Jun 22, 2007 6:15 pm

Post by Robo1
Fri Jun 22, 2007 6:15 pm

I thought I would up date the build. Have spent most evenings working away at the CAD and final happy with the design for the leg section and lower body. Should have him in some for for next week end meet in the UK.

Some of the CAD Renders


Image

I love the above render the face is just a sphere but the render gives it a smile :lol:

Image

For size comparison

Image

The final lower leg secion that should be made by next friday

Image

Image

Image

Image
I thought I would up date the build. Have spent most evenings working away at the CAD and final happy with the design for the leg section and lower body. Should have him in some for for next week end meet in the UK.

Some of the CAD Renders


Image

I love the above render the face is just a sphere but the render gives it a smile :lol:

Image

For size comparison

Image

The final lower leg secion that should be made by next friday

Image

Image

Image

Image
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Post by Robo1 » Fri Jun 22, 2007 6:19 pm

Post by Robo1
Fri Jun 22, 2007 6:19 pm

The last photo's of the parts that have been made already and there's more parts in the machine been built as we speak. I'm sat here trying to get the brains working, using the KHR-2 as the test bed, I've got it producing the PWM I want on the FPGA just got to make the code for the move list.

Hope you Like every one loves a bit of robot eye candy :P

Bren
The last photo's of the parts that have been made already and there's more parts in the machine been built as we speak. I'm sat here trying to get the brains working, using the KHR-2 as the test bed, I've got it producing the PWM I want on the FPGA just got to make the code for the move list.

Hope you Like every one loves a bit of robot eye candy :P

Bren
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Post by NovaOne » Mon Aug 27, 2007 5:20 pm

Post by NovaOne
Mon Aug 27, 2007 5:20 pm

I even went and brought titanium screws through out to give him that added touch.


Not that I need any but where did you buy titanium screws from? What size are they? and how much did they cost?

I've got it producing the PWM I want on the FPGA just got to make the code for the move list.


I understand you are using gumstix, plus Opensevo boards and a ATmega168, do you also use a FPGA.... :?: How are all these devices going to connect/communicate.....Block diagrams please :wink:

Chris
I even went and brought titanium screws through out to give him that added touch.


Not that I need any but where did you buy titanium screws from? What size are they? and how much did they cost?

I've got it producing the PWM I want on the FPGA just got to make the code for the move list.


I understand you are using gumstix, plus Opensevo boards and a ATmega168, do you also use a FPGA.... :?: How are all these devices going to connect/communicate.....Block diagrams please :wink:

Chris
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Post by Robo1 » Mon Aug 27, 2007 8:24 pm

Post by Robo1
Mon Aug 27, 2007 8:24 pm

HI NovaOne

I got the screws from Here There very expensive £90 for 100 screws there M3x16 and M3x20

I dropped the FPGA it was working but the size of the board to the number of gates was bad. I had a 500K gate array and I ran out of space fast. When I get this bot built I might get a bigger FPGA and have a play and see If I can make it better.

Should have some more pic and stuff up by the end of this or next week.

bren
HI NovaOne

I got the screws from Here There very expensive £90 for 100 screws there M3x16 and M3x20

I dropped the FPGA it was working but the size of the board to the number of gates was bad. I had a 500K gate array and I ran out of space fast. When I get this bot built I might get a bigger FPGA and have a play and see If I can make it better.

Should have some more pic and stuff up by the end of this or next week.

bren
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Home Build Update

Post by SimC » Mon Sep 24, 2007 1:32 pm

Post by SimC
Mon Sep 24, 2007 1:32 pm

Hi Bren,

How's your cool home build coming along? Any updates on the way? Will you be showcasing him at the up-coming Robotic'07 event in Birmingham? I don't currently own a robot myself but I'll most likely be coming down 2 get a closer look at these guys!

Cheers
Sim
Hi Bren,

How's your cool home build coming along? Any updates on the way? Will you be showcasing him at the up-coming Robotic'07 event in Birmingham? I don't currently own a robot myself but I'll most likely be coming down 2 get a closer look at these guys!

Cheers
Sim
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