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ergoCub 1.1 S/N:001 – Arm FTs cables damaged #1756

Closed S-Dafarra closed 3 months ago

S-Dafarra commented 4 months ago

Robot Name 🤖

ergoCub 1.1 S/N:001

Request/Failure description

We noticed that the cables of the FTs in both arms appear damaged. This causes the connection to be flaky and sometimes the yarprobotinterface does not start because the robot is not able to detect them

Detailed context

See for example Image

The cable seems to be damaged by the robot's own movement

We noticed this issue while being in Bruxelles for a demo

Additional context

No response

How does it affect you?

No response

SimoneMic commented 4 months ago

By the blue rubber cover I am wondering, is this ergoCubSN001 or the one in Rome?

S-Dafarra commented 4 months ago

By the blue rubber cover I am wondering, is this ergoCubSN001 or the one in Rome?

Thanks for noticing. I made a mistake in selecting the robot from the dropdown menu

AntonioConsilvio commented 4 months ago

Hi @S-Dafarra, the photo you showed in the issue is actually not the cause of the FT malfunction.

The malfunction is caused by the crimps coming out of the connector.

What you see in the photo is actually just some threads of the cable shield coming out of the insulation. That does not cause malfunctioning and therefore it is not damaged fortunately. Also because if the cable were to break at that location, it would mean having to replace the FT sensor. Anyway, thanks for the feedback, for the next FTs we will insert a longer sheath.

Now, I've put glue on the connector to make the crimps stay in place, I think that's enough. In case it's not enough I'll try crimping the cable.

sgiraz commented 4 months ago

Hi @S-Dafarra,

Do you have any news on this issue? Did the strain2 board disappear anymore? If everything is ok, I will proceed to close this issue.

cc @AntonioConsilvio @SimoneMic

S-Dafarra commented 4 months ago

Hi @S-Dafarra,

Do you have any news on this issue? Did the strain2 board disappear anymore? If everything is ok, I will proceed to close this issue.

cc @AntonioConsilvio @SimoneMic

Hi @sgiraz, I haven't used the robot myself since we got back from the demo, and probably the arm FTs are still disabled at the moment.

sgiraz commented 3 months ago

Hi @S-Dafarra,

Did you have the opportunity to use the FTs in the last days?

S-Dafarra commented 3 months ago

They should have been enabled back, and we did not have any startup failure related to the FTs. I think we can close this, thanks!