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blobbington
08-04-2012, 12:48 PM
Hello Everyone,

I've been away from Robotics for a while, but I've recently started working for a small robotics/animatronics/interactive art company. So I'm getting back into the swing of things.

I have several projects of my own on the go, but the furthest along is a Squid.
It is Inspired by art cars like The Nautilus see.. http://fivetoncrane.org/the-nautilus.html

The Idea was to create a Squidcar. A small 1/2 person differential drive vehicle.
So I set about CADing a scale model of a Squidcar. All the designs were drawn in 2D. which resulted in many hours of head scratching. :?

As in total there are 118 laser cut components :D

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00295.jpg

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00313.jpg

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00312.jpg

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00311.jpg

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00310.jpg

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00307.jpg

Now the fun bit, how does it all fit together.....

Step 1 . Build up the Tentacles and Mouth

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00319.jpg

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00320.jpg

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00318.jpg

Step 2 . Add in the Spine and Ribs

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00321.jpg

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00322.jpg

A Pair of Solabotics GM9 Motors provide the drive

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00323.jpg


Step 3 . Build up the Right Hubless Wheel and the drive train.

Inner Plate

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00324.jpg

Wheel and Main drive Gear

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00325.jpg

Outer Plate and Bearing

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00326.jpg

Cam Gears

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00327.jpg

Motor Drive Gear

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00328.jpg

Outer Facia and axel Mount

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00329.jpg

Add Braces

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00330.jpg

Step 4 . Repeat Step 3 for the Left Side

Step 5 . Add wheel braces

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00345.jpg

And finally you have a complete Squid :D

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00335.jpg

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00336.jpg

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00337.jpg

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00338.jpg

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00339.jpg

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00340.jpg

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00341.jpg

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00342.jpg

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00343.jpg

http://i291.photobucket.com/albums/ll284/blobbington/Squid/DSC00344.jpg


I have a few things to finish before it will move.
Including stinging up the tentacles to the drive cams, The tentacles should oscilate as the squid drives along to give the illusion of swimming. Making up the left Cam Drive. And make a small dc drive circuit.
But they shouldnt take too long... :D

I shall post a vid as soon as its ALIVE!!

gdubb2
08-04-2012, 01:07 PM
Oohhh.. I like that..Very nice work.

Looking forward to seeing it alive..:happy:

Gary

jwatte
08-04-2012, 02:31 PM
Are those proper involute gears? How did you generate the profiles?

tician
08-05-2012, 01:12 PM
First of all, holy * that's awesome.



As for generating involute gear profiles, I couldn't find the pdf it in the thumbdrive backups on my netbook, but I did manage to find the original source of the tutorial (http://www.cadquest.com/books/pdf/gears.pdf) that I used during undergrad mech. I think the process would be mostly the same with SolidWorks, but not sure (haven't used SolidWorks nearly as much although much prefer it over ProE). If in doubt, just google.

blobbington
08-06-2012, 07:40 AM
Thanks for the complements.

The gears were designed using the a peice of software called Gear Generator.
Using this software you can create gear profiles that can be exported as .dxf files.

jwatte
08-06-2012, 02:01 PM
Thanks, Blobbington! I wish I had found that program when I was building my laser-cut gears last year. I ended up writing a gear generator program in C# that generated SVG files and G code (I wanted to try milling them, too, but the insanely thin end mills needed are not practical for gears that are wide enough to take force...)

DresnerRobotics
08-06-2012, 02:28 PM
(haven't used SolidWorks nearly as much although much prefer it over ProE)

Signed, anyone who's ever taken college level CAD classes.

tician
08-06-2012, 03:23 PM
Signed, anyone who's ever taken college level CAD classes.
The department is still using AutoCAD for the intro GD&T and structural classes, but they have since completely dumped ProE for SolidWorks. They also dumped the glitchy P.O.S. that is Algor/FEMPRO for FEA/FEM classes (can't count how many times I lost work because it crashed).

blobbington
08-06-2012, 03:35 PM
Theres nothing wrong with AutoCAD :tongue:. Thats my CAD of choice. :wink:

Gertlex
08-06-2012, 05:59 PM
I'm on the solidworks bandwagon too... but definitely can't refute you re:AutoCAD with that fabulous piece of work. Very nice :D

Th232
08-06-2012, 07:30 PM
That Squid is nuts, can't wait to see the vid either.

While we're swapping notes on CAD software, I find that Inventor is great for 3D (free for students too! :tongue:), but AutoCAD is still awesome for 2D work. Especially true when laser cutting stuff, polyline is your best friend for smooth cuts.