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sthmck
06-27-2008, 01:20 PM
Here are some screen shots of my mech. I am designing it in rhino. When I started making it i didn't have the dimensions of the AX-12. Now that I do I will rebuild it so that I can have the exact size. Right now I think it is around 15 inches tall. I plan on using wifi to control it, but I am not sure how I will set that up. Any suggestions are welcome. I am also considering making a second mech that will have four legs. Don't have the money to buy servos for both so I will probably Just swap them from one to the other to figure out which design I like better. Hopefully I can finish the design this weekend, but I don't know if that will happen since my girlfriend is getting back from mexico tonight. I will keep everyone posted on my progress.
http://i99.photobucket.com/albums/l310/smck280/mech1a.jpg

http://i99.photobucket.com/albums/l310/smck280/mech1.jpg

JonHylands
06-27-2008, 04:04 PM
Looks cool - I have models of all the Bioloid parts (including brackets and servos) in Rhino format, if you want them...

lnxfergy
06-27-2008, 04:07 PM
Looks cool - I have models of all the Bioloid parts (including brackets and servos) in Rhino format, if you want them...

Jon,

Can you export such things in a format like Step? (I use Autodesk Inventor, which can't read rhino).

-Fergs

JonHylands
06-27-2008, 04:35 PM
Yes, I can. I'll get the parts exported in Rhino and Step, and post where they are (later tonight or this weekend)...

lnxfergy
06-27-2008, 04:47 PM
That would be awesome.

I probably won't get my Bioloid kit until later next month, but I am looking forward to having my first biped! (I work at a scout camp during the summer, so I won't be around much the next 6 weeks).

-Fergs

JonHylands
06-27-2008, 05:05 PM
Okay, I put one leg here:

http://www.bioloid.info/Bioloid-Leg.zip

This is made from simplified NURBs, and has all the brackets and pieces required to make both legs.

Included in the ZIP file are:

3DM format - Rhino
3DS format - 3D Studio
STP format - Autodesk Inventor?

Have fun, and let me know if you need anything else...

lnxfergy
06-27-2008, 08:48 PM
Ok, so the problem Jon, is that step makes this all one piece.... So while I can view your awesome leg assembly, I can't really change it around.

Do you have the servos and brackets as individual files? If so, individual steps would be awesome (that I can import and assemble anyway I want).

-Fergs

JonHylands
06-27-2008, 09:11 PM
http://www.bioloid.info/BioloidParts.zip

lnxfergy
06-27-2008, 10:07 PM
Awesomeness, time to build my virtual mech.

-Fergs

sthmck
06-27-2008, 10:19 PM
Hey thanks. I will try this stuff out and see how it works. This should help speed things up a lot. Now I dont have spend all the time to make the servos and brackets.

sthmck
06-30-2008, 08:31 AM
Here is an more current design. I added a few other things to it just a little while ago, but I'm not going to post anything else till I get the design completely finished. There are a few parts that I will have to make since the kit doesn't have everything that I need. http://i99.photobucket.com/albums/l310/smck280/WGV2.jpg

sthmck
06-30-2008, 08:33 AM
Here is another design I am toying with. It will take a lot more servos though so it probably wont get built for the first competition. http://i99.photobucket.com/albums/l310/smck280/ZaberFang.jpg

Droid Works
06-30-2008, 09:12 AM
Here is another design I am toying with. It will take a lot more servos though so it probably wont get built for the first competition. http://i99.photobucket.com/albums/l310/smck280/ZaberFang.jpg

That is just to cool. Awesome design.

tom_chang79
06-30-2008, 09:36 AM
sthmck, that is an awesome design. I may have to borrow it...

I've been thinking of reconfiguring my bioloid kit to do a reverse-knee chicken walker... I really like your double (reverse) knee scheme you got going

DresnerRobotics
06-30-2008, 10:45 AM
Just something to keep in mind- generally the longer the legs are the harder those servos have to work. Also- while I like the double servo knee design... is it necessary for 'mechs'? I thought it was more to increase the speed so that humanoids could jump small amounts?

Edit: I really do like the design though.

darkback2
06-30-2008, 11:03 AM
as for controlling it using wifi...two possible solutions. One is the pico ITX board. I personally have a sony vaio 180ux, but the ITX is so damn small. Check out Tyberious' jonny five. The ITX starts at under 300. you can get the sony for about 800 on ebay.

The second solution, one that I may implement is wireless USB. You can get a wireless USB hub, and connect all of your sensors, controllers, and webcams over a wireless connection.

Hope this helps.

DB

JonHylands
06-30-2008, 11:14 AM
You'll have a hard time handling the weight of a pico-itx on a walking bot, unless you're using some really kick-ass heavy duty servos (like RX-64's)...

sthmck
06-30-2008, 11:27 AM
Just something to keep in mind- generally the longer the legs are the harder those servos have to work. Also- while I like the double servo knee design... is it necessary for 'mechs'? I thought it was more to increase the speed so that humanoids could jump small amounts?

Edit: I really do like the design though.

Thanks. I can leave the double knee design out if I feel that it doesn't actually have any advantage. I just added it in because the kit has 18 servos, so I have a few extra servos to use.

sthmck
06-30-2008, 11:29 AM
I was thinking about using a pico, but I was also looking at getting a gumstix with a wifi expansion board. Has anyone ever used one?

DresnerRobotics
06-30-2008, 11:30 AM
You'll have a hard time handling the weight of a pico-itx on a walking bot, unless you're using some really kick-ass heavy duty servos (like RX-64's)...

Yeah I would recommend staying as lightweight as possible, the pico-itx itself is light but keep in mind you'll need another battery to power it + hard drive + picoPSU... that stuff adds up quick when youre talking about a humanoid payload.

Adrenalynn
06-30-2008, 11:33 AM
[clip!]

The second solution, one that I may implement is wireless USB. You can get a wireless USB hub, and connect all of your sensors, controllers, and webcams over a wireless connection.

DB

I would offer the advise that you buy your wireless USB from someplace that makes it easy/free to return. They're "not all that and a bag of chips" yet, in my experience...

darkback2
06-30-2008, 11:39 AM
Oh...so disappointed.

DB

Adrenalynn
06-30-2008, 11:41 AM
Worth trying and see if you can get 'em to work with your peripherals, as long as you can dump it if necessary, imho.

JonHylands
06-30-2008, 11:47 AM
I was thinking about using a pico, but I was also looking at getting a gumstix with a wifi expansion board. Has anyone ever used one?

I am using a gumstix verdex with a wifistix to control BrainBot (http://www.bioloid.info/tiki/tiki-index.php?page=BrainEngineering+BrainBot). It works very well, and gives you a pretty decent fat pipe connection. It works especially well if your robot is a Bioloid, because the gumstix verdex can talk directly to the Bioloid bus at 1.0 Mbps using its USB host port and a couple simple support chips (or my USB bus interface board).

DresnerRobotics
06-30-2008, 12:01 PM
I am using a gumstix verdex with a wifistix to control BrainBot (http://www.bioloid.info/tiki/tiki-index.php?page=BrainEngineering+BrainBot). It works very well, and gives you a pretty decent fat pipe connection. It works especially well if your robot is a Bioloid, because the gumstix verdex can talk directly to the Bioloid bus at 1.0 Mbps using its USB host port and a couple simple support chips (or my USB bus interface board).

Yup, this is probably the route I'm going, either that or a Hammer. I'd advise anyone else going with a Bioloid system to look into it, as the CM-5 will likely prove quite inadequate for our purposes.

JonHylands
06-30-2008, 12:06 PM
Right now there isn't a plug-n-play option for wifi available for the Hammer - at least, not that I'm aware of. I believe LinuxGuy has it working with a SPI-based wifi module, but I'm not sure about that. You should be able to plug in a USB wifi dongle, but my experiences trying that with the gumstix were less than satisfactory, with many driver issues coming up.

sthmck
06-30-2008, 12:31 PM
You should be able to plug in a USB wifi dongle, but my experiences trying that with the gumstix were less than satisfactory, with many driver issues coming up.
What about the expansion board that you can buy from gumstix, that should work ok right?

DresnerRobotics
06-30-2008, 12:31 PM
Right now there isn't a plug-n-play option for wifi available for the Hammer - at least, not that I'm aware of. I believe LinuxGuy has it working with a SPI-based wifi module, but I'm not sure about that. You should be able to plug in a USB wifi dongle, but my experiences trying that with the gumstix were less than satisfactory, with many driver issues coming up.

Eh in that case I'd just as soon stick with the easier route as Im moving into unknown territory already with the linux based processors. Gumstix + wifi addon looks like the way to go.

JonHylands
06-30-2008, 12:55 PM
What about the expansion board that you can buy from gumstix, that should work ok right?

Yes, that's what I am using now. When I was playing with wifi USB dongles, the wifistix for the verdex line wasn't available.

sthmck
08-13-2008, 11:44 AM
Yes, that's what I am using now. When I was playing with wifi USB dongles, the wifistix for the verdex line wasn't available.

Are you using this for microraptor, or something totally different? The reason I ask is because I was wondering if you were controlling the ax-12 bus using the gumstix.

JonHylands
08-13-2008, 01:12 PM
I was using that with BrainBot, my J5-like robot. And yes, I'm controlling the AX-12 bus with the gumstix.

sthmck
12-09-2008, 10:24 AM
Woot! So I got a research grant from NASA for researching WSN's and part of the money from that grant came today. Since I dont have to use any money for my research I am going to spend most of it on my mech. I am going to go ahead and build the quad instead of the biped. Hopefully I will have the rest of money by early January.

DresnerRobotics
12-09-2008, 11:52 AM
:O

No fair! NASA-Funded Mechs are overpowered!

sthmck
12-09-2008, 12:04 PM
Haha, atleast you dont have to pay for S & H on your parts. You just walk over to the little parts bin and say "I think I am going to dominate mech wars with these little guys, hey matt take this out of my pay check." Lol Probably going to end up getting four RX-64s or 28s. not sure yet though. Also don't know if I should get a beagleboard or a gumstix for on board control. Thoughts on that?

ScuD
12-09-2008, 12:14 PM
Nasa funded?





I hate you... :genmad:




:p

DresnerRobotics
12-09-2008, 12:29 PM
Haha, atleast you dont have to pay for S & H on your parts. You just walk over to the little parts bin and say "I think I am going to dominate mech wars with these little guys, hey matt take this out of my pay check." Lol Probably going to end up getting four RX-64s or 28s. not sure yet though. Also don't know if I should get a beagleboard or a gumstix for on board control. Thoughts on that?

That's a tough call, with a biped I would say go all RX-64s for sure, with a quad you could probably get away with RX-28s. That said- I'm in the process of designing custom brackets for the RX-64s and I plan on sharing all the files when I'm done. I'm getting them machined from 5052 aircraft aluminum @ Big Blue Saw (http://www.bigbluesaw.com).

I'm going Gumstix for mine.

Adrenalynn
12-09-2008, 02:01 PM
Wait a sec - my tax dollars are building your mech?

Well, I suppose they've been spent on worse...

sthmck
12-09-2008, 02:23 PM
Wait a sec - my tax dollars are building your mech?

Well, I suppose they've been spent on worse...

Yeah thats for sure. Just to make you happy I will slap a sponsorship sticker on my laptop that says, Sponsored by the US taxpayer. Did I mention that the rest of the money is going to come from an internship at the Coast Guard?

Tyb and particular reason you are going with the gumstix? Are you going to be using the new one?

I am pretty sure that AX-12s wont be able to handle the weight of the robot at certain points which is why I am looking at the stonger ones. Hopefully I can get away with using the 28s. I have to use a little bit of that money to get my girlfriend a christmas present.

jes1510
12-09-2008, 02:24 PM
Wait a sec - my tax dollars are building your mech?

Well, I suppose they've been spent on worse...

I was thinking the exact same thing. I'll take my refund in the form of servos and xbee radios please ;)

Seriously, good luck with the machine.

DresnerRobotics
12-09-2008, 02:37 PM
Tyb and particular reason you are going with the gumstix? Are you going to be using the new one?

I am pretty sure that AX-12s wont be able to handle the weight of the robot at certain points which is why I am looking at the stonger ones. Hopefully I can get away with using the 28s. I have to use a little bit of that money to get my girlfriend a christmas present.

Farrell Robotics was kind enough to allow me to 'evaluate and beta test' their control system, they use the Verdex Pro 400mhz Bluetooth enabled Gumstix and a PS3 controller as an HID device for control. That's all I can say about it though ;)

I think for any sizable robot your best bet will be RX-28s (or better). The AX-12s are great but have their limits when it comes to higher payloads.

sthmck
01-26-2009, 09:59 PM
Here is my design so far. I am constantly re working it. I need stronger servos in the middle to rotate the body. I will probably cut them out for right now until I get a chance to buy some rx-28s.
I also need more wires. It is kinda sloppy right now.
http://i644.photobucket.com/albums/uu164/sthmck/robots016.jpg
http://i644.photobucket.com/albums/uu164/sthmck/robots017.jpg
http://i644.photobucket.com/albums/uu164/sthmck/robots015.jpg
http://i644.photobucket.com/albums/uu164/sthmck/robots014.jpg

gdubb2
01-26-2009, 10:12 PM
Ahaa... another quad.. looks good.
Gary

sthmck
01-26-2009, 10:13 PM
Thanks. I have a lot of work to do though. No where near ready for robogames.

DresnerRobotics
01-26-2009, 10:20 PM
Very nice.

You should talk to Fergs about his AVR/Xbee board with a bioloid bus... its perfect for Mech Warfare.

sthmck
01-27-2009, 01:38 PM
Yeah I am planning on it. I am going to work on the frame this weekend. It is going to go where the cm-5 is now. I am going to cut out the two servo's that are attached to the cm-5 and make that spot rigid. Later on if I get some stronger servos than I will go back to this design.

sthmck
02-11-2009, 08:13 PM
Here are some updated pictures of Stryker. I basically measured some lines on a sheet of cardboard then folded it on the lines, and duct taped it together. The next step is to fab an aluminum substructure that ties all the legs, batteries, control boards and servos together. After that I can start on the balsa plug for the body. It will look a little different than it does in these pictures.

The body will be a little longer to allow for larger target plates on the sides unless tyb say that it is big enough already.

Also the things "flares is you will" over the legs are going to have to be a little bigger to allow the legs to rotate correctly.


http://forums.trossenrobotics.com/gallery/files/1/4/4/3/robots_020.jpg

One of my servos got killed (was't my fault) so I was waiting on a new one.


http://forums.trossenrobotics.com/gallery/files/1/4/4/3/robots027-1.jpg

Shows the side target area. It will go up to the top and bottom of body, not just the center part. I will still probably add an inch to the length though.

http://forums.trossenrobotics.com/gallery/files/1/4/4/3/robots_023.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/4/3/robots_024.jpg

gdubb2
02-11-2009, 08:38 PM
Looks good. Is the balsa plug going to fill the whole thing, or just a small area for extra rigidity??

Gary

sthmck
02-11-2009, 09:27 PM
Basically the plug that I am going to make will be everything that is cardboard and the front and back that are open.
The final product will be a carbon fiber, kevlar hybrid body structure with some aluminum internally to support some stress point as well as the electronics/batteries.

sthmck
02-19-2009, 07:46 PM
I downloaded google sketchup and threw together a final design for my plug. This will give me the dimensions I need to use to cut the balsa. Here is a screen shot.

http://forums.trossenrobotics.com/gallery/files/1/4/4/3/stryker.jpg

sthmck
03-05-2009, 10:00 PM
Here is an update on Stryker. I noticed that Big Blue Saw was having a sale on aluminum so I thought it would be a good time to work on the frame. The dimensions aren't final but they are pretty close.




http://forums.trossenrobotics.com/gallery/files/1/4/4/3/bodyframe3.jpg



http://forums.trossenrobotics.com/gallery/files/1/4/4/3/bodyframefoldedholes.jpg


Also I'm not much for website design and stuff, but I made a site on google. I am going to put most of the info on my build there. Project Stryker (http://sites.google.com/site/projectstryker/Home).

I am expecting guns in the mail sometime tomorrow, and squash balls shortly after that. Once I get these parts back I should be able to start on the body.

sthmck
03-09-2009, 07:47 AM
Quick update: I have the guns now. All eight of them. I also have squash balls. Hopefully my frame plans will be finalized and sent out to get milled by the end of the day. Oh yeah and I broke my arm. I am trying to get as much done as possible but it is pretty hard.

DresnerRobotics
03-09-2009, 08:57 AM
Eight?...

darkback2
03-09-2009, 10:43 AM
Did you say eight guns? Eight? I though bheka was crazy with 2...eight guns take spray and pray to a whole new level... Time to call in the air strikes.

sthmck
03-09-2009, 11:15 AM
Spares. You can never have enough spares.

gdubb2
03-09-2009, 12:12 PM
Did you say eight guns? Eight? I though bheka was crazy with 2...eight guns take spray and pray to a whole new level... Time to call in the air strikes.

I actually have 6 plus 1 full auto.....Bwaaahaaa


Spares. You can never have enough spares.

And that's the truth....:veryhappy:... more is better..

Good luck with the arm and the parts...
Gary

Zacattack
03-12-2009, 07:25 PM
i cant wait to see the pics of this!

sthmck
03-12-2009, 08:29 PM
I will have an update sometime next week.

Zacattack
03-12-2009, 08:35 PM
cool, hmm i think ill try to start a thread for me begging people for soem help with how id set up mech with a bioloid

sthmck
03-17-2009, 11:19 PM
I got the parts I ordered from Big Blue Saw. Exactly what I ordered. The only problem is that I ordered the wrong thing.
http://forums.trossenrobotics.com/gallery/files/1/4/4/3/strykerframe3.jpg

The big part is actually perfect. The four pieces beside them are the problem. They are to long and to wide. I am not to worried about it though. It wont take to much to cut them to the correct size. I now have to bend the parts to look like this.
http://forums.trossenrobotics.com/gallery/files/1/4/4/3/bentframe.jpg

That is basically what it will look like when it is finished. The holes will be different though.

Adrenalynn
03-17-2009, 11:21 PM
Very pretty, very trick. 30 seconds on a shear will knock 'em down to size.

sthmck
04-11-2009, 02:36 PM
Here are some updates.
Frame is almost finished. Now all I need to do is drill some holes and mount the legs on it. I also have to stick the squash balls on the bottom of the legs some how. Not sure about that yet.
I am pretty much finished with the weapons system. I still need to get a camera, but if I can't get it walking the camera won't matter much anyway. More pics soon.

jes1510
04-11-2009, 10:04 PM
That thing looks great man! Thanks for sharing.

sthmck
04-12-2009, 05:09 PM
I wanted to see what Stryker would look like with the legs on it so I stuck some cardboard across the leg brackets. The legs are just stuck in there. Nothing is holding them together.