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Custom 2-3-2
#91
Tongue 
MORE POWER!!!!!



Now we are getting somewhere. He shakes the whole room!

A bit less scary on carpet.

I am extremely happy with my 2-3-2 mechanism now. The new shoulder motors have made all the difference. The big advance has come from moving through the unstable section of the transformation (just off two leg mode) before he has a chance to even think about falling over.

I am running my shoulder motors and lift motor off my ~27V lithium pack, his movements would be a bit less violent at 24V. I can't test at 24V with my power supply because it can't supply the current needed by the lift motor.

I probably need to speed control the lift motor on the down stroke so that the slam into the floor is a bit less violent. He will almost certainly destroy himself doing it too often (or on concrete). I am also running the motors into the physical endstops, because I haven't fitted the limit switches yet. 

Still not hugely happy with the wobble in two leg mode, this could probably be improved by remaking his ankle control rods in steel instead of aluminium.
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#92
And the lunge!
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#93
Dude... that's awesome. The slow-mo is very fun to watch everything jumping up in the air!

I'm not too far behind. Hopefully, in the next week or so, I think I finally have all my hardware. Wrapping up my drive and Omni wheels.

I have steel to make my leg rods. I'll let you know if that makes any difference.

Great work!

Troy
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#94
I'm assemblying R2-D2 based on Michaels' design, based in London, and I was looking for ideas on how to build a 2-3-2 mechanism.

I just found your work and I'm really impressed!

Would it be possible to adjust the vertical speed of the centrefoot from the driver, to follow a cosine curve, to reduce the impact of the centrefoot hitting the floor?

Is this design available to try/beta-test and experiment with?

Nikos
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#95
Hi Nikos

Yes, the design is available here: https://www.3dprinteddroids.net/thread-497.html

CobraTroy has been building from my design, and has just performed his first 2-3-2 last night, but I would still say the design is in beta. The instructions are more alpha. It is not a simple build.

I plan on running my lift motor from an h-bridge to slow the down stroke, because yes I am worried about damaging my PLA, CA glued droid. I am impressed it has stood up to everything I have thrown at it so far.

Let me know if you have any questions.

Martin
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#96
Ah Nuts. this is so frustrating I am missing all the updates on this thread.
thanks for your advice earlier Martin. I am still trying to get a version of the design that I can read into rhino. it wont play with any of the formats on the Michaels patreon pages so I guess its scratch it Smile no prob really I get more time to design than anything else.
it looks fantastic what you have achieved! really really great.

cheers

c
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#97
(12-11-2018, 05:16 AM)CraigO Wrote: Ah Nuts.  this is so frustrating I am missing all the updates on this thread.  
thanks for your advice earlier Martin.  I am still trying to get a version of the design that I can read into rhino.  it wont play with any of the formats on the Michaels patreon pages so I guess its scratch it Smile  no prob really I get more time to design than anything else.
it looks fantastic what you have achieved! really really great.

cheers

c

You can get Fusion 360 for Mac and PC for free.  You can get it under the hobbyist or student license if you don't use it for a business.

Eebel
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