Older blog entries for egoo76 (starting at number 6)

Well it has been a while since I posted an entery, so here it goes. I have been working a lot and getting much accomplished. I have the entire left leg frame built and the knee mechanics done. I still need to finish the foot and ankle mechanics. I have been working on the foot mechanics these past couple of days. I have decided to use a standard dc motor and reduce the speed with a dual worm gear configuration. I am pondering whether or not to use a stepper motor for the ankle or not. I probably will since that is what will actually turn the 'bot. I recently purchased some more gears and IC's from Nelnick.com, I specifically ordered a stepper motor controller. I have never used a stepper motor before let alone a motor controller IC, but it looks very interesting. I also purchased a STAMP 2 OEM kit today for only $30.00! It requires some soldering but that isn't to bad for the price. I have been looking at how many I/O's it will take to controll just the walking mechanics and it looks like a lot. I still need to add feed back and sensors too. So I have decided to construct several sub-systems to control most of the walking funtions and free up some I/O ports. We will see how that goes. I still need to consider power requirements and run time. Well, I will keep it up and write again.

I finally got a BASIC STAMP kit, it comes with a BS2 soldered to a 'Homework' board, which is a pc board with a small breadboard, associated MC circuitry, 9v plug, and a serial port. It also comes with several loose items: resistors, a transistor, a potentiometer IC chip, a servo, LEDs, pushbuttons, potentiometer, Cds Cell, and a small piezo element. On top of that it came with a CD full of stuff and a several hundred page book! I paid arount $90 for the kit which I bought from Radio Shack, and I am very satisfied indeed.

I am amazed at how easy it is to use, especially the programming portion. I hope to soon make my way through the instruction book and then begin to write a program for my robot. In the mean time I will of course experiment with different motor and sensory functions that are not included in the kit.

I am really no closer to completion with my robot mechanically. I am in a small room with thin walls and a tiny desk. But, I have been getting a feel for the atmosphere around the area and it seems pretty relaxed. I should be able to pull out some tools soon and begin working away! Finding time is another problem, I work longer hours here then at my home station. Well, I will update things as I go along. Oh yeah, still no internet in my room.

Well, I finally made it to my deployed location. I am in Florida for four months, not to shabby in my opinion. I currently don't have internet access for my leasure, so I am stuck trying to grab it when I can. I have been working on a couple things. I just recently scrapped my older legs and began working on a new pair. I changed the drive gear and the way it is set up. It looks much cleaner. I also found a BASIC STAMP project kit including a breadboard and some parts, but I don't have the money yet. I am going to be changing lodging locations soon, so hopefully I can get internet then. I really want to start publishing things on my web page. I need some feed back and suggestions. Until next time, keep coming until you get where you're going.

Well I have not been very busy working on my robot. I am leaving tomorrow for four months, so I don't know how much time I will have to work. Like I said I am in the military and periodically we have to go places to work and support operations. I am hoping that I will have opportunities to at least experiment with some of the electrical components. I am pretty sure fabricating anything will be out. Anyway I am still working on learning BASIC and creating a web site, but it is pretty slow.

I am still working on the ankle portion of the robot. It is a bit of a challenge getting the correct amount of movement, but I am sure I will get it. I am finding the joy's of tapping my own holes for the screws rather then using a nut at the end. I also found an old Siemens 8051 Microcontroller today with EPROM, S-RAM, and a character generator (but I am not sure what that is). I was pretty stoked until I realized that it is EPROM, not EEPROM, so I will have to work on getting it programmed (Anyone know how to do that?). Anyway it's late and I need to recharge. More tomorrow.

Well I completed the gear box for the ankle. I used 22 gauge sheet metal for the box. It houses two gears, the first is a 30T/10T gear that drives a 50T gear. I used a 3V moter with a worm gear as the power plant. Im estimating that I will need about a 1/4" of movement to balance the weight as the biped walks, but we'll see. One problem that I can already see is the size of the gearbox assembly. It is larger then what I had in mind, but I feel that I had to make it that size to achieve the gear reduction/torque that will be needed to move the weight of the bot. I was surprised at how quickly I was able to fabricate the box, only about 2 1/2 hours from start to finish. It used to take me about 3 1/2 to 5 hours to complete a gear box. I have also noticed that my accuracy is much better. Practice makes perfect. Thanks Goodrobot for the certification, it's appreciated. Well I am up pretty late so I am going to shut it down and recharge.

Well today I finished the left knee mechanics of my biped. Now I am going to start working on the ankle section, primarily the balancing mechanics. I am going to create a Web Page fairly soon, but now I am pressed for time.

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