search

robotology / icub-tech-support

Virtual repository that provides support requests for individual robots
GNU General Public License v2.0
20 stars 1 forks source link

ergoCub 1.0 S/N:001 – Tendon broken for right index add #1775

Closed PasMarra closed 1 month ago

PasMarra commented 3 months ago

Robot Name 🤖

ergoCub 1.0 S/N:001

Request/Failure description

When giving a setpoint through the motorgui, the finger doesn't move and you can here this noise coming from the motor. We suspect that the tendon is broken. See video below.

Detailed context

https://github.com/robotology/icub-tech-support/assets/143645988/02391cd6-57a5-4dcf-82ac-a39a50c3b8d1

Additional context

No response

How does it affect you?

No response

AntonioConsilvio commented 1 month ago

Hi @PasMarra! As a result of the mechanical upgrades of the lowerarms performed by @fbiggi, the index adduction have started working again, see video:

https://github.com/robotology/icub-tech-support/assets/114915464/1b8cf042-8708-42a4-888d-313b86cefed2

Here the PR that enable the joint calibration:

Since the robot has already been tested, I will proceed with closing the issue. If there are any other problems, feel free to open a new issue!

[!Note] Just for information, the adduction has not tendons, but a series of linkages connected to a little motor. The problem was caused by the linkages being physically disconnected from the motor shaft.