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adham-elarabawy / open-quadruped

An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full 6-axis body pose manipulation. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets.
https://adhamelarabawy.com
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Assembly specifically belt tensioner #9

Open wiltonburke opened 4 years ago

wiltonburke commented 4 years ago

Do you have any documents or guides on assembly. I'm not sure exactly how you did the belt tension. Also the alignment of the servos would also be helpful. If not guides them possibly some pictures.

Thank You.

wiltonburke commented 4 years ago

This is what I have so far. It looks like it would bind or wear out poorly against the side of leg.

IMG_3134

adham-elarabawy commented 4 years ago

Hi @wiltonburke. I'm currently a bit busy with my undergraduate workload, but I can try and guide you through the assembly. From the picture, it looks like the belt is slipped off of the bearing. The ideal behavior is that the belt lies flat against the idler bearing. Please try reorienting it and let me know if that solves your problem.

wiltonburke commented 4 years ago

I may adjust the design to use something like https://www.thingiverse.com/thing:24661

On the alignment of the servos I can see it doesn't matter much on the belt thats pretty adjustable to fix by sliding the belt. But the alignment on the 2 shoulder servos. What do you recommend?

wiltonburke commented 4 years ago

Looking it over this morning I had the lower leg on backwards.

adham-elarabawy commented 4 years ago

By alignment of the shoulder servos, do you mean the range of the servo? Or are you referencing mechanical alignment? There should only be one way to mount the shoulder servos.

wiltonburke commented 4 years ago

I mean the range of the servos. Where do you place the min and the max. The servos usually provide 180 degrees of motion. I don't know how much experimentation you have done, but I'm asking because I noticed when I put the leg together the first time I placed it where it would have very little motion stepping forward. The 2 servos in the shoulder are a little harder to adjust then the belt drive to the lower leg so I'd like to get them aligned correctly before building the other 3 legs. I'll have to rebuild the first leg anyways because I order some 35kg servos to replace the mixture I have now.