AD: Get your 45 day trial of the Arduino IDE for Visual Studio: [ Ссылка ]
It’s the next part in the series for openDog Version 3. This whole project is open source, and the CAD and code are already published on Github. All of the mechanical parts are designed to be printed in PLA, and the main motor drives, of which there are twelve, are cycloidal drives which I developed over a few videos last year, each drive has two cycloidal discs and a lot of bearings.
There are three videos in my channel about building the project already which you can check out, but in this video, I’m going to make some minor mechanical changes, and attempt to make it walk more dynamically.
The main mechanical change I’m making is to the lower legs. I talked about the inverse kinematics in part 3 of the series.
This involves being able to position the foot in XYZ cartesian coordinates, and work back the maths to calculate each of the three resulting joint angles per leg to achieve the required foot position. To move the foot on a path we interpolate between the positions from point A to point B which means we basically scroll through all the positions on the way, so the foot moves in a straight line.
At the moment, the dog is walking by moving the feet to fixed positions on hard coded timers. The time it has to take a step gets longer as the step distance increases, but it has no sense of balance.
CAD and Code: [ Ссылка ]
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Merchandise: [ Ссылка ]
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Matterhackers 3D printing supplies: [ Ссылка ]
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CAD and Code for my projects: [ Ссылка ]
Huge thanks to my Patrons, without whom my standard of living would drastically decline. Like, inside out-Farm Foods bag decline. Plus a very special shoutout to Lulzbot, Inc who keep me in LulzBot 3D printers and support me via Patreon.
HARDWARE/SOFTWARE
Below you can also find a lot of the typical tools, equipment and supplies used in my projects:
Filament from: [ Ссылка ]
Lulzbot 3D Printers: [ Ссылка ]
Bearings from: [ Ссылка ]
Lincoln Electric Welder: [ Ссылка ]
CNC Router: [ Ссылка ]
Ryobi Tools: [ Ссылка ]
Axminster Micro Lathe: [ Ссылка ]
3D Printer Filament: [ Ссылка ]
Soldering Iron: [ Ссылка ]
Vectric CNC Software: [ Ссылка ]
Why not join my community, who are mostly made up of actual geniuses. There’s a Facebook group and everything: [ Ссылка ]
XROBOTS
Former toy designer, current YouTube maker and general robotics, electrical and mechanical engineer, I’m a fan of doing it yourself and innovation by trial and error. My channel is where I share some of my useful and not-so-useful inventions, designs and maker advice. Iron Man is my go-to cosplay, and 3D printing can solve most issues - broken bolts, missing parts, world hunger, you name it.
XRobots is the community around my content where you can get in touch, share tips and advice, and more build FAQs, schematics and designs are also available.
