Significantly Better Motor Control and Gripper CAD

The motor code was getting a bit messy, so I rewrote it. I separated the motor code from the main control code which cleaned it up a bit.

LADRC

I’m using LADRC now. It’s kind of like PID, but advanced. I took the implementation from online.

I feed it the motor current, encoder value, and the target and it goes. The algorithm or whatever somehow calculates the velocity of the motor and how much “effort” it’s using and then gives an effort to put to the motor. It somehow cancels out like disturbances like gravity, backlash, the general physics, etc.

As you can see, the motor control is so so so much better than before. It cleanly decelerates. It handles load and dynamically increases effort. Before there was some oscillation because it just couldn’t figure out how to get to the target, this one is just so much better and so hands off. There’s basically like no calibration as it does it over time :)))

FINALLY FIRE REFLEX ARM COMPLETED!

So, finally the fire reaction arm is completed.
Did all the wiring and all behind the board and the usb-c for power input and sensor bulb for fire detection and mg996r servo is passed through the board so that everything can be hidden behind and only 2-3 things are on the show.
The Arduino is behind plugged in to the breadboard and we still have the option of uploading code to the Arduino.
And also there’s a buzzer behind which makes sound when there’s fire and the arm moves up at the same time.

Subscribe YouTube

Instagram

Made Rod
Okay so I made rod for the upper and lower system, firstly calculate all sizes and then will had to make the rod thin enough that it can pass through both gear and ball bearing holes and then calculated the length of upper and lower parts and then made the roof of exact length.
Now will just have to make one more small part then will move to tibia parts.

Subscribe YouTube

Instagram

Making rod for gap and checking things and space.
Okay, so made rod to get space between 2 layers and checked which parts CAD designing is done and how much space will it occupied.

Subscribe YouTube

Instagram

yeeee,I finished it!!!

FINALL ALL WRITING DONE!!

SOLDERING 16 LRD’s !
Okay,so did soldering today, like LDR 1 terminal of all 16 LDR’s connected to a 10K ohm’s resistor. And also connected 9 wires to the board but will have to connect 7 more and then 2 more for 5v and GND also.

Finally complete assembly of HEXAPOD/SPIDER ROBOT 2.0!

okay so I was finally able to make the complete assembly of the HEXAPOD/SPIDER ROBOT 2.0, but I by mistake I clicked hexapod3.0 so it got logged in this project.

Subscribe YouTube

Instagram

ASSEMBLING PARTS!

Okay so,
I assembled parts, like I tried assembling parts in pieces,
Like body to coxa motor then coxa motor horn to femur then femur motor horn to tibia then tibia motor horn to leg and then leg to ground shock sensor.
Like I will try to make a complete assembly but maybe my laptop won’t be able to handle it.
But still, I will try complete assembly if possible.

Subscribe YouTube

Instagram

CORE DESIGN AND FEW OTHER PARTS AND HACK TIME PROBLEM.

Okay so, I worked for 7 hours also made the time lapse but it didn’t got counted in stardance but it does shows the timelapse videos in hacktime,

So I made the designs for the core and few other parts on freecad some parts didn’t turned up well.

Subscribe YouTube

Instagram

WASN’T ABLE TO MAKE IT WIDE ENOUGH.
Okay so, i tried making the structure but the exterior thing which will connect the servos to core and body was to narrow that it will end up braking if used, so will have to start from zero again.

Subscribe YouTube

Instagram

FINALLY WAS ABLE TO FIGURE OUT THE CORE SYSTEM!
Okay so some how was able to figure out the core system and now will start designing rest of the things and will try that they stick together but won’t break eachother.

Subscribe YouTube

Instagram

Multiple gear system!
So, there’s a gear system in the core which will make it unique, but right now it’s different to get the distance between the core and the servos because of the system , so maybe will make a replica and will try to find the distance and maybe in this one I will be using metal leg structure instead of 3d printed once , if they won’t be heavy.

Subscribe YouTube

Instagram

RESEARCH ANDS A LITTLE BIT DESIGNING.
So, didn’t did much designing, like it’s not even designing, so I did more research so maybe, now will start designing, but it’s confusing and difficult to figure out things for this one.

Subscribe YouTube

Instagram

HEXAPOD3.0 STARTED!
So, didn’t didn’t much for now was just trying to figure out things and how and where which thing can go and and what can be used for it.

Subscribe YouTube

Instagram

A DIFFERENT KIND OF SHOCK ABSORBER AND REBUILD FEMUR PARTS!
Okay, so I made a very simple design for the new shock absorber, but I will just be using tpu instead of pla, do I guess that I should work.
And rebuild and modified all femur parts as they were all short in length.
And made go through space for servo wires in body and tibia.

Subscribe YouTube

Instagram

MAKING NEW SHOCK ABSORBER AND REPAIRING PARTS!
So, i remade the shock absorber again and after 6 failed variations made another 4 today and repaired few parts and making the new shock absorber took a lot of time.

Subscribe YouTube

Instagram

REPAIRING AND UPDATING PARTS.

So, like there were few parts which I made wrong and few needs to be upgraded so I didn’t repaired few parts and ungraded this whole part.

Subscribe YouTube

Instagram

1ST TEST LEG And MISTAKES!

So, i finally got the first test leg 3d printed from a local 3d printing service by my own money.
I order all the parts of a whole single leg and few different different variants for shock absorber but non of them worked.
And also I tried assembling the leg but wasn’t able to as I didn’t had screws for it , and there were few or maybe more then few 😅 mistakes in it ,and some parts need to be improved, so I wrote everything I have to change and also I forgot that I wanted 3-4 exactly same parts in more then 1 quantity so wrote that also, so will now again edit or redesign parts.

Subscribe YouTube

Instagram

A small project before starting the big one - FIRE REACTION ARM.
As I just now posted my HEXAPOD/SPIDER ROBOT 2.0 after 89 hours of devloging so thought of making a small project before starting a big project.
It’s a fire reactive system which uses HW-072 Flame sensor and a mg90s servo and a bulb and a ARDUINO NANO and you can add a buzzer if you want to.
You can check out tutorial video on YouTube.
Subscribe YouTube

Instagram