Monday, 17 September 2012
Sunday, 16 September 2012
Thursday, 6 September 2012
Wednesday, 29 August 2012
Friday, 11 May 2012
Monday, 30 April 2012
Finished re-building the legs with the new joint axle and taper roller bearings. All went together very nicely, much easier than the previous system! Tomorrow I will get the encoders hooked up and start the calibration procedure. The maybe a test!
|The New Femur & Tibia Axles|
|The first Femur axle in place, with half the Coxa and Femur cheeks.|
|The completed Femur joint|
|The occasional stubborn bearing needed this jig to get it started. Thank goodness I add M8 tapped holes in the ends of the axle!|
|Half way there, all the femurs back on.|
|Not bad for one days work.. on my own!|
|And another day with help and the tibia's are back in place.|
Posted by Matt at 21:25
Monday, 23 April 2012
I picked up the bearing housings from D&T today. I was hoping to get everything but its been delayed until Wednesday, still I'm going to push on and fit the bearing housing to the aluminium cheeks. You can see at the top right of the picture one of the 0.1mm laser cut shims I have had made to offset any cheeks that are of differing thickness. This is because the 25mm sheet aluminium cut parts came in a range of thickness's from 25.0 to 25.4 .
Posted by Matt at 22:11
Tuesday, 20 March 2012
Ok, this has to be the last time! after carrying out further tests on the joints I have decided that the current spherical eye bearings are not up to the job, and although are plenty strong enough, they are allowing far too much mechanical play in the joints which is not helping the stability of the machine. So its time to re-engineer the joints with taper roller bearings similar to the coxa joint that was altered last year.
|The first of six legs stripped.|
|Sandy came in to help me out.|
|Nearly finished, looks kind of cool.|
|All done! I bet the re-build doesn't go so smoothly!|
I also decided to order more powerful rams for the coxa joints. Although the existing rams have plenty of power when pushing, the pull force is half which makes the joint tuning very difficult. With the improvement I have already seen in the tibia rams I think the coxa rams will also benefit from a larger bore 50mm cylinder.
Posted by Matt at 20:00