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My first robot.

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Rookie ( offline )
Posts: 40
Posted: 2018-03-18 06:04 
 Post subject: Re: My first robot.
Wheel print finished tonight. a 44 hours print. Looks Good overall. Printed with 3 shells 15% infill at 240C and 85C. It consumed 550grams of primaselect filament and the wheel feels unbreakable

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Rookie ( offline )
Posts: 40
Posted: 2018-03-19 10:00 
 Post subject: Re: My first robot.
Today I received the new BLDC motors & the VESC controllers for the Valify robot lawnmower.
Here is some pictures from test mounting on the prototype motor brackets:
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Also continued with CNC milling of parts for the Drive system:
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http://valify.se/2018/03/19/the-new-bld ... ound-home/

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Rookie ( offline )
Posts: 40
Posted: 2018-03-20 11:50 
 Post subject: Re: My first robot.
Testing the new BLDC motors running VESC.
https://www.youtube.com/watch?v=ha5ucyqyUr0
Read full post here: http://valify.se/2018/03/20/the-new-bru ... ors-spins/

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Rookie ( offline )
Posts: 40
Posted: 2018-03-22 03:37 
 Post subject: Re: My first robot.
Tested to control the motor with VESC over ROS and Differential drive, ROS controller and keyboard_teleop.


Read full post: valify.se/2018/03/21/differential-drive-ros-vesc/

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Rookie ( offline )
Posts: 40
Posted: 2018-03-24 08:45 
 Post subject: Re: My first robot.
Tonight Part 10 was finished, the second wheel for the Valify Robot lawnmower. The print took around 44h and conusmed approximately 550grams of PrimaSelect PETG filament.


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I just order a tachometer so I can measure the RPM easier. For low RPM the motors are working quite good. No problem with torque, as i wrote earlier I can't even hold them. So I need to measure how low RPM the motors can handle before calculating gearing further. I will order encoders for absolute rotor positions improving low RPM start and torque. The encoder I am looking at is the AS5047P (which seems to be hard to get) I also looking at the AS5048A which can support 16384 positions per revolution. Yesterday night I continued to work with brushless motors, VESC and ROS. The Differential drive works. I hooked up a DS4 running turtlebot_teleop_joystick In order to control the motors with a joystick https://www.youtube.com/watch?v=zs_l-jMn2cI&t=3s read full post [url=valify.se/2018/03/24/brushless-motors-vesc-and-ros-second-test/]here[/url]:

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Rookie ( offline )
Posts: 40
Posted: 2018-03-24 17:08 
 Post subject: Re: My first robot.
My printer had no tasks in the pipeline for tonight, So I 3D printed the mounting bracket for the scanse sweep
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Read full post: valify.se/2018/03/24/scanse-sweep-3d-printed-mounting-bracket/]

First test of the Sweep and ROS.
https://www.youtube.com/watch?v=k9m85NCLcu4

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Admin ( offline )
Posts: 6944
Posted: 2018-03-26 07:47 
 Post subject: Re: My first robot.
Now getting a better sense of size. That's not a small robot at all. Really looking forward to seeing it in action.

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RobotShop inc.
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Rookie ( offline )
Posts: 40
Posted: 2018-03-26 17:50 
 Post subject: Re: My first robot.
No, around 700mm is the total length. Same here :-) working everyday to get it up and running :-)

Today I received my touchscreen for the robot. Did a quick and dirty prototype of the mouting bracket and printed it.
Here is how how it looks mounted on the robot. (Did not have 90-degree HDMI connectors at home, thats why is lifted when powered on).


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Read full post here: valify.se/2018/03/26/capacitive-touchscreen-running/

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Rookie ( offline )
Posts: 40
Posted: 2018-03-27 09:06 
 Post subject: Re: My first robot.
A quick Drive system/wheel assembly.
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Things are coming together quite nicely.
Here is a small video on the drive system in action with wheel:
https://www.youtube.com/watch?v=tMZNToO2TvU

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Admin ( offline )
Posts: 6944
Posted: 2018-03-27 09:54 
 Post subject: Re: My first robot.
Your site is well done - really nice to have you document the process.

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Coleman Benson

RobotShop inc.
Putting Robotics at your service!™
www.robotshop.com

Lynxmotion
Imagine it. Build it. Control it.™
http://www.Lynxmotion.com


Rookie ( offline )
Posts: 40
Posted: 2018-03-28 04:40 
 Post subject: Re: My first robot.
Thanks CBenson.

I did a quick assembly so I could test the drive system. Also waiting for high-resolution rotary position sensor for better absolute rotor position. Modifications on the VECS´s are needed. (Happy with the very silent drive)

Read full post here: http://valify.se/2018/03/28/drive-system/

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Rookie ( offline )
Posts: 40
Posted: 2018-04-06 14:24 
 Post subject: Re: My first robot.
Friday fun!
Testing the AS5048A encoder with 16384 positions per revolution and with the temporary drive system. Motor brackets are 3D printed and not perfect, therefore some annoying noises! Running VESC FOC Mode @10% Duty.

With the rotary position sensor I get a very smooth start and better torque. Before the start from standstill could be a little choppy and the sensor took care of this issue.


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Rookie ( offline )
Posts: 40
Posted: 2018-04-13 00:22 
 Post subject: Re: My first robot.
Next week, CNC milling of motor brackets begins.
Here are the final brackets and the plan for gearing
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a quick render on the drive system
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In the meantime I keep the printer busy with printing pulleys.
Sizes printed today is XL 10T, 50T and a 55T. Took a few test prints before I could find the sweet spot for the settings for a maximum belt grip.
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New AS5048A encoder mount printed. HE-14 header fits great and I installed pull relief for the cables on the back.
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Read the latest post here

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Rookie ( offline )
Posts: 40
Posted: 2018-04-14 17:25 
 Post subject: Re: My first robot.
Saturday's fun. Printed mounting brackets for the front wheels (Please note that this is only test wheels before I make an effort the design some new ones with bearings etc.
The brackets came out great. Following the contours of the body and blended in quite good. This parts was also printed with PETG.


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Rookie ( offline )
Posts: 40
Posted: 2018-04-17 08:23 
 Post subject: Re: My first robot.
Testing the 3D printed front nose. Looks quite good. Minor adjustments needs to be done.
Printed with PrimaSelect PETG @240C, 85C bed, 3shells and 15% infill (Very solid outcome).
Countersink need to be adjusted to cut the body.
The Integrated ZR300 camera need some cover on the back.
Check if one can use a 90 degree USB instead of a normal USB head.

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