Since these parts are designed to be either waterjet or CNC-milled, adding this through cut-out feature adds very little effort or cost. To remedy this, I designed a cutout four each Leg Motor Box pulley. I also noticed an additional clearance issue with the Leg Motor Box Assemblies the pulley of each assembly is conflicting with the Lower Main Plate. In the picture below, you can see Spike with all four legs for the first time – finally starting to look like something! This is because I plan to add these later to the exterior of Spike, and protect them with sheet metal panels, as I imagine I’ll spend quite a bit of time under the hood of Spike. It’s also apparent that Spike’s doesn’t have much room left for the many stepper drivers and onboard electronics. At this point, I also found it worthwhile to add side plates to Spike’s center to help retain the battery compartment. As discussed in the prior log, all this involves thanks to the modular design is to mirror the Leg Motor Box Assemblies relative to the Leg Motor Box Assemblies relative to the other side (front-back), as the legs all bend in the same direction at the olecranon joint. Īll Four Legs and Continuing the Design of Spike’s Body:.Two More Legs and Some Body Design Michael G.While the assembly is quite tight, after some adjustment, there are no conflicts between the six degrees of freedom in Spikes front or back legs. The series of holes in the inner Leg Tensioning Plate allows the adjustment of tension in both of the timing belts. Since there won’t be accessibility to get an allen key in to screw a idler/tensioner into a tapped hole, I decided instead to use the waterjet to cut ¼” holes into the inner Leg Retention Plates.Īs the holes aren’t tapped, the design was changed to leverage shoulder bolts going all the way through the holes, through the inner race of the bearing, and then tightened on the end by a nut onto the shoulder bolt’s threads.Īs can seen below, one of the motor’s timing belts goes to one leg, while the other goes to the other leg. I decided to again turn to the step-wise tensioning method talked about in an earlier log, but had to approach it a little differently to last time given space constraints. Of course, when I actually order the timing belts, they will be close to the right size, but certainly won’t be tensioned perfectly. Notice how the only post-processing work necessary on this part is to drill a hole in the side of the aluminum to allow the bolt to pass through to actually clamp the motors in place.Īt this point I found the length of the AT-5 timing belts and mocked them up in the design. I then designed another flexure motor mounting plate to clamp the two motors in place.Īs per the standard in the design of Spike, we’re letting the machines doing the work and taking advantage of the manufacturing process of waterjet or CNC-machining. Accordingly, I adjusted the height of the Leg Retention panels and other side panels such that there was room for two of the stepper motors one-atop-another. The plan is to have the motors arranged one-atop-another to get them in the limited space in between the Leg Motor Boxes. Using this manufacturing process, it’s also possible to machine the bore and a key slot to transfer the torque from the planetary output shaft to the pulley. It’s worth mentioning here that the plan is to waterjet the zero-backlash timing belt pulleys to reduce cost. The hip motors are 15:1 planetary gearbox Nema 23 stepper motors, that get actual power to the hips via a AT-5 timinb belt. As discussed in a prior log, the two hip motors are going to be placed in the dead-space between either side’s Leg Motor Box. At this point, Spike still needs power to his hips. BYO laptop with LEGO SPIKE software (. Tickets are available for either of the 2 sessions Individually or both together (at a discounted price!). Put your skills to the test! Take part in a number of fun and challenging competitions including Line Follow, Maze runs and obstacle courses (prizes will be on offer!).Īlthough this is an introductory course, anyone who has done robotics before is encouraged to come along to extend and refine their skill set and we will be sure to challenge them.Come along to learn how to make your robot dance and sumo in this fun workshop. SPIKE robots are LEGO robots that can be built in custom designs, then programmed using the LEGO SPIKE software.Introduction to SPIKE robots ( 9am till 1pm) Over the 2 days the brand new course will be ran in 2 sessions: GEAR up is excited to invite GIRLS AND BOYS aged 8+ to this introductory workshop. Whether you have done robotics before and are looking to extend your skills or totally new to robotics, this workshop is perfect for you. Discover the wonderful world of robotics these holidays.
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