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View Full Version : [Project] Madcat/Timberwolf - Prototype



Dragonfire
04-09-2010, 10:24 AM
Hello all,
Long time lurker, First time poster.

The goal of this project is actually a prototype for a larger more powerful version. The prototype is simply a platform to analyze feasibility of a scaled up version, test electronics, kinematic motion, and of course have fun. Both ROV and autonomy is planned.


Planned prototype specs:

Custom IMU unit (GPS,Gyros, accelerometer, digital compass)- Done
Custom Power solution (18.5v primary/11.1 secondary, with 12v, 6v, 5v regulation) -Pending
Long Rang Comm - Partial (currently 10km theoretical, plans for 50km module)
Video /w Telemetry - Partial (camera and data recorder/parser done, no video transmitter)
Chassis- Partial (~90% complete, few odds and ends needed as well as canopy)

http://forums.trossenrobotics.com/gallery/files/4/2/5/4/cimg0065a.jpg

http://forums.trossenrobotics.com/gallery/files/4/2/5/4/cimg0066a.jpg

http://forums.trossenrobotics.com/gallery/files/4/2/5/4/cimg0069a.jpg

http://forums.trossenrobotics.com/gallery/files/4/2/5/4/cimg0070a.jpg


More pictures and info to follow...

kanda
04-09-2010, 12:01 PM
Hello,

How tall is that part of the body ?

Thanks

Dragonfire
04-09-2010, 12:07 PM
OK, quick update before I leave the office today. To give you a better idea of the shape, I loosely place the top portion of the torso. At this point its mostly just a stand-in. The giant missle rack "ears" (mouse or fennec, whichever) are largely temporary for visual effect and also so I can attach weights. I plan to attach a modified helicopter canopy in the space directly in front of the cm-5 and riser block. Also note that there are no arms nor torso twist servo at this time. I lack 7 servos, and until those ax-18F come out on the market, the robot will have to go without for now. 6 of the ax-18F will replace knee joints and the leftover ax-18F will serve as the torso twist. then the ax-12s will be used in the construction of the arms.

The picture on the cork-board is for servo reference btw.
http://forums.trossenrobotics.com/gallery/files/4/2/5/4/cimg0071a_original.jpg

Dragonfire
04-09-2010, 12:10 PM
about 14 inches for the legs

Dragonfire
04-09-2010, 04:55 PM
OK, now for some electronics.
http://forums.trossenrobotics.com/gallery/files/4/2/5/4/cimg0077a.jpg

From right to left, 50 channel GPS reciever and a custom IMU.

The IMU is basically an arduino microcontroller (underneath in blue) which gathers and parses data and a shield (red) containing the following from top to bottom.

A 3-axis digital compass with tilt compensation.
2 axis gyro, measuring forward-to-back and side-to-side tilt.
A 14 bit ADC
A 1-axis gyro for torso twist with a 2-axis accelerometer for x and z acceleration.
A header for power, GPS, and data lines.

Fun fact- The bottom side shows the solder tacked components with wire wrapping for the connections. makes it look pretty up top but is a rats nest underneath.

DresnerRobotics
04-09-2010, 05:19 PM
Looking good! The leg configuration is more or less a reverse Bioloid humanoid design so it should work fine as long as you keep your payload down to a minimum. Bigger feet might also help.

But.... dye your brackets!

Dragonfire
04-09-2010, 05:38 PM
Looking good! The leg configuration is more or less a reverse Bioloid humanoid design so it should work fine as long as you keep your payload down you should be fine. Bigger feet might also help.



To true. In fact both the inspiration and basic information of the design was from your Hagetaka mech. Recalling one of this issues you had was with the lack of torque from several servo models. Ultimately I very much doubt this mech could carry the full load of electronics and gear. However this is basically a cost effective (if you count bioloid kits as cheap, relatively speaking) means of developing a fully custom mech with high end dynamixel servos. Since I have a machine shop (cnc mills and lathes) I'd ultimately love to translate this project to a metal and carbon fiber scaled up version. Here's hoping everything works out to that end. :)