#robotics Logs

Dec 31 2019

12:45 AM Jak_o_Shadows: nah, few hours time right?
01:08 AM Jak_o_Shadows: eyy, the PC simulation is about lining up with the actual
01:17 AM Jak_o_Shadows: Unless I do negative angles
01:17 AM Jak_o_Shadows: those aren't working
01:26 AM Jak_o_Shadows: Even the angle one works out ok
01:38 AM Jak_o_Shadows: and it can do at least 140g in shear
01:39 AM Jak_o_Shadows: it complains a little, but not too bad I hope
01:40 AM Jak_o_Shadows: At a distance of 13cm out from the motor
01:40 AM Jak_o_Shadows: If you ignore the bit where it is multiple motors, and that it is pure translation instead of rotation
01:40 AM Jak_o_Shadows: 140g * 0.13m = 0.0182 Nm
01:41 AM Jak_o_Shadows: 10kg * 1cm = 0.981Nm
01:41 AM Jak_o_Shadows: so honestly, should be good for lots more
01:45 AM Jak_o_Shadows: Can do 300g easy enough - lot slower though
01:45 AM Jak_o_Shadows: of course, I am using a 5V supply that's rather wussy
01:46 AM Jak_o_Shadows: 1A total for 6 servos.
02:19 AM Jak_o_Shadows: dug out an old atx power supply
02:19 AM Jak_o_Shadows: can do the 300 and 600 g easy
02:22 AM Jak_o_Shadows: Can even do 1kg, through I need to print some more parts to make that strcuturally ok
02:43 AM Jak_o_Shadows: BTW, if anybody here has every read about or seen examples of elastic/spring elements being used in a stewart platform, let me know
04:18 AM rue_mohr: looking for hardware conformance eh?
04:41 AM Jak_o_Shadows: Yeah
04:42 AM Jak_o_Shadows: It's hard to model some of the limitations
04:42 AM Jak_o_Shadows: dynamics of course is a bit difficult
04:42 AM Jak_o_Shadows: but just joint limits screw your nice calculations up
04:42 AM Jak_o_Shadows: and like, people have done stuff like modelling workspace and force of this type of parallel manipulators
04:43 AM Jak_o_Shadows: but i would prefer to simplify the software model when doing stuff like gait planning
04:43 AM Jak_o_Shadows: Now i'm thinking about the hip joint.
04:49 AM Jak_o_Shadows: Through I should probably make a wheel back end
04:49 AM Jak_o_Shadows: and work on getting it to follow it
04:57 AM Jak_o_Shadows: Also, wow, https://arxiv.org/pdf/1804.06527.pdf is complicated
10:47 AM chisight: Jak_o_Shadows: if you'd like a voltage bump out of that atx, check continuity between 5v and 12v grounds. if there is none, you have independent windings and can put them in series to get 17v.
04:03 PM Tom_itx is now known as Tom_L
06:42 PM logb0t_ is now known as logb0t
08:36 PM Jak_o_Shadows: oooh.
08:36 PM Jak_o_Shadows: For the moment I want 6V max, but that's a neat trick
08:48 PM chisight: it only works on some power supplies. some of them have their grounds all connected, a few depend on the motherboard itself to do the final connecting of common ground.
09:48 PM logb0t_ is now known as logb0t
10:02 PM SpeedEvil is now known as Guest39643
10:10 PM rue_mohr: happy new year!
10:10 PM rue_mohr: oops , I'll try to get the next one on time
10:55 PM Jak_o_Shadows: You're very late
11:05 PM rue_mohr: no no, 2 mins to go
11:06 PM rue_mohr: 10...
11:06 PM rue_mohr: happy new year!!!!!!!!!!!!!!!!!!!!
11:06 PM rue_mohr: happy new year!!!!!!!!!!!!!!!!!!!!
11:06 PM rue_mohr: happy new year!!!!!!!!!!!!!!!!!!!!
11:06 PM rue_mohr: happy new year!!!!!!!!!!!!!!!!!!!!
11:06 PM rue_mohr: happy new year!!!!!!!!!!!!!!!!!!!!
11:06 PM rue_mohr: happy new year!!!!!!!!!!!!!!!!!!!!
11:06 PM rue_mohr: happy new year!!!!!!!!!!!!!!!!!!!!
11:06 PM Jak_o_Shadows: happpy new year