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Thread: Some love for the Money Pit

  1. #11
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    Re: Some love for the Money Pit

    Holy cow! That thing's a monster! It looks like it could climb Mt. Everest!

    I can see why an AX-12 would have trouble rotating the wheel assembly. You're the one that introduced me to the RoboClaw, so don't blame me if that's my first recommendation! Or a MUCH bigger Dynamixel...

    What's carrying the weight at each wheel? Is there a bearing tucked in there, or is the servo supporting the load?

  2. #12

    Re: Some love for the Money Pit

    There are two RoboClaws on it already :-) (For driving the wheels.)

    It actually does well in most terrains (including, as I found out, climbing chainlink fencing) it's just tall grass that's the problem.
    And, for anyone who has tried to run in tall grass, I bet you can understand why :-)
    I'm actually worried that if I add bigger servos, I'll just start trying to tear the rubber of the wheels off the hubs instead, or bend the 1/8" 6061 aluminum brackets.
    Thus, I'm pretty much settled on finding some less knobbly/mushy wheels, and adding a third axle in the center for carrying 50% of the weight. (And a third RoboClaw for driving it.)

    What's carrying the weight at each wheel?
    There is a thrust bearing between the suspension arm (where the servo is mounted) and the rotating bracket (attached to the AX-12A horn.) Someone had previously made the observation that some common thrust bearing size fit reasonably well around the AX-12A horn, and I machined a race for that into the underside of the arm and overside of the bracket.

    Also, the suspension arms are mounted on 1/4" stainless axles with dual ball bearings, and machined bearing pockets attaching them to the main base plate. Which is overkill no matter how you look at it, and I'll probably just go with oiled-brass bushings for any future version. But it was fun to make :-)

  3. #13
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    Re: Some love for the Money Pit

    Quote Originally Posted by jwatte View Post
    ...Which is overkill no matter how you look at it, and <snip> But it was fun to make :-)
    This is my hobby in a few words: "Overkill", and "But it was fun to make" !!! It is fun!

    And you can't have too many RoboClaws!

  4. Re: Some love for the Money Pit

    I see 4 independent drives could allow you to spin on the spot.
    You could probably gear you ax12s by a factor of almost 2 and still keep your range of movement, say by a timing belt or a simple gear. This would also centralize the motors if you wanted. Although I guess just one more thing to go wrong.

  5. #15

    Re: Some love for the Money Pit

    I see 4 independent drives could allow you to spin on the spot.
    That's right! Turned out the be a crowd pleaser on demo :-)

  6. #16

    Re: Some love for the Money Pit

    And this is why we do simulation before we actually make parts!


  7. #17

    Re: Some love for the Money Pit

    Also, while Inventor was my first love, Fusion 360 is the frikkin' bomb.
    I find it easier to work with for the things I actually need to do, and it has a very good CAM mode for making tool paths.

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