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willward20 / robots-wiki

Wiki for UT Autonomous Clearpath robots
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Jackal-0771 Suspension Cables #6

Open willward20 opened 1 year ago

willward20 commented 1 year ago

When the Jackal’s lid is fully open and suspended, the front left wheel of the robot lifts slightly off the ground due to a weight imbalance. If you compare the two Jackals when fully opened, the 0771’s lid is rotated open more than the 0770. I think the 0771’s support cables are too long. Do these need to be replaced?

Compare how the two Jackals sit in the images below.

willward20 commented 1 year ago

Measure the cables on 0770 so you know what the correct length is.

willward20 commented 1 year ago

The length is about the same on each. Roughly 10 inches, but not exact. I noticed that the separation distance between the suspension cable supports on the lids is slightly different between the two robots, which could contribute to the problem. Sent a message to clearpath support to get their opinion.

willward20 commented 1 year ago

Clearpath's response was:

"Regarding the lids, I discussed the matter with a senior hardware integration specialist. They mentioned that the different length of support cables should not be too much of an issue. They are mostly there to protect the hinge to make sure the lid doesn't open too far. [...] One item of note is you have a particularly heavy lid as well, which is why opening it fully can cause the front end to tilt up a bit (and the LIDAR to nearly touch the ground). So our suggestion would be to putt a block of some sort behind the lid to help support it."