Prototype Transmission, HB-25, and BS2
Bill Chennault
Posts: 1,198
All--
I have been tied up for a while, but now that I am free I thought I would show you the prototype transmission I might use for a walker joint. It is composed of an HB-25 and a Banebot gearmotor with a stall-torque of 4935 oz-in. Currently, I am driving it during evaluation with a BOE equipped with a BS2. Eventually, it will be driven (or the transmission I finally choose) by Robert Doerr's SX40 module. I have christened the entire assembly--transmission, gearmotor, motor controller, and SX40 module, the "Smart Joint." Each transmission will have its own dedicated processor that causes it to do whatever that transmission is supposed to do.
Here is a picture of the current prototype, which is the second one . . .
And here is a link to a short video clip of it in action. All it is doing is moving the dual shafts--to which the foreleg or forearm will be attached--back and forth about 90 degrees; about as much as if you were to stand . . .
http://www.billnkc.com/images/Robotics/Walker/Prototype Transmission-b.mpg
--Bill
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You are what you write.
I have been tied up for a while, but now that I am free I thought I would show you the prototype transmission I might use for a walker joint. It is composed of an HB-25 and a Banebot gearmotor with a stall-torque of 4935 oz-in. Currently, I am driving it during evaluation with a BOE equipped with a BS2. Eventually, it will be driven (or the transmission I finally choose) by Robert Doerr's SX40 module. I have christened the entire assembly--transmission, gearmotor, motor controller, and SX40 module, the "Smart Joint." Each transmission will have its own dedicated processor that causes it to do whatever that transmission is supposed to do.
Here is a picture of the current prototype, which is the second one . . .
And here is a link to a short video clip of it in action. All it is doing is moving the dual shafts--to which the foreleg or forearm will be attached--back and forth about 90 degrees; about as much as if you were to stand . . .
http://www.billnkc.com/images/Robotics/Walker/Prototype Transmission-b.mpg
--Bill
▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
You are what you write.
Comments
I forgot to mention that the transmission began life as a solid block of aluminum. When it encountered my mill it became hollow with some other holes.
--Bill
▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
You are what you write.