search

open-dynamic-robot-initiative / open_robot_actuator_hardware

https://open-dynamic-robot-initiative.github.io
BSD 3-Clause "New" or "Revised" License
1.13k stars 203 forks source link

hip_aa_support/Bearing #11

Closed STGRobotics closed 4 years ago

STGRobotics commented 4 years ago

Having problem finding the 20x25x4mm bearing locally. Is it posible to get the step file to modify for a different bearing size.

fgrimminger commented 4 years ago

Yes - I uploaded the STEP file here: https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware/tree/master/mechanics/quadruped_robot_12dof_v1/step_files Please note that the wires for the upper leg motor and encoder are routed through this part. You'll want to make sure that the connectors still fit through the bearing and the support. Also if you want to maintain the large range of motion the hip aa support has to clear the upper leg rotor. wire_path rom_10

STGRobotics commented 4 years ago

Thank you for the file and post. I'm able to find 20x27x4mm bearing easily.

STGRobotics commented 4 years ago

Found plastic bearing very affordable, to reduce the weight of the robot.

https://www.igus.com/product/460 B6704B3G 20x27x4mm 2.62 USD B6705B3G 25x32x4mm 2.62 USD

fgrimminger commented 4 years ago

Thanks - this is interesting....