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open-dynamic-robot-initiative / open_robot_actuator_hardware

https://open-dynamic-robot-initiative.github.io
BSD 3-Clause "New" or "Revised" License
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Cable Routing improving proposal #38

Closed nitrostormbcn closed 3 years ago

nitrostormbcn commented 3 years ago

Hi, I'm Pau from PAL Robotics, we have found some improvement in the part "hip_fe_module_shell" that would greatly improve cable routing. We've had problems assembling the shoulder and this would ease manufacturing without changing the robot's geometry.

Before: SoloShoulder

After: SoloShoulder_proposal_1

It only modifies the external shell and help routing. I can send you the modified part if you wish. SoloShoulder_proposal_2 SoloShoulder_proposal_3 SoloShoulder_proposal_4 SoloShoulder_proposal_5

fgrimminger commented 3 years ago

Hello Pau,

thanks for your suggestions.

I am surprised to hear that you have so much trouble with the wire routing through the hip. Are you using the same encoder and motor phase connectors that we are using? (Details Wiring)

What kind of wires are you using? We had bad experiences with ribbon wires.

I first pull the encoder connector and wires through - then the three motor phase wires - one after the other. Using pliers helps sometimes.

Best. Felix

wire_routing_hip_1

nitrostormbcn commented 3 years ago

We've had problems with the cables getting twisted over each other and stripping the insulation, this should be alleviated with looser cable routing.

Also when replacing the broken wires, disassembly and reassembly was very tedious.

Imho, I think this problems would be solved by allowing more space for the cables to pass.

fgrimminger commented 3 years ago

Hi Pau,

o.k. - thanks for your suggestion and the stl file. I added it to the 3dof leg documentation.

Best, Felix

dvogureckiy99 commented 2 years ago

good afternoon, thanks for the improvement, could you please provide a model in the extension .step or .SLDPRT, not .STL because all sizes are lost in it.