search

kennychou0529 / atrias

Automatically exported from code.google.com/p/atrias
0 stars 0 forks source link

Characterize ATRIAS Spring Profile #15

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
Need to measure the spring rate using load cell and angle.  This may be an 
excellent task to delegate to a summer intern.  

For now, we could weigh the robot carefully, then change the knee angle to 
change the mechanical advantage of the legs, and change torque commands so the 
robot is in steady-state.  We then know the mass of the robot compared to the 
spring deflection - and this is a much better measurement than the torque 
commands to the motor. We may also be able to add and remove weights from the 
robot, and measure the deflection of the springs.  We _know_ that the springs 
are symmetrical, and that information is important.

Original issue reported on code.google.com by jonathan...@gmail.com on 24 Jun 2011 at 5:38

GoogleCodeExporter commented 9 years ago

Original comment by tra...@gmail.com on 20 Apr 2012 at 11:53