Peter Wallers Robot Ramblings

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peterwaller
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Re: Peter Wallers Robot Ramblings

Postby peterwaller » Thu Nov 03, 2016 5:02 pm

Fixing Variant was not quite so simple.
The main problem was that the drum was too heavy and too far forward partly due to the modular design so there was little weight over the wheels and so little grip.
So I reduced the length, diam and wall thickness of the drum saving around 12 gms.
Scrapping the modular construction enabled me to shorten the distance between drum and wheels considerably giving further weight saving.
I have now been able to fit thicker tyres and upgrade to 3 cell and am still 12 gms under.
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Re: Peter Wallers Robot Ramblings

Postby peterwaller » Mon Nov 21, 2016 7:15 pm

Although the new version of Variant performed much better at the Basingstoke Open it still had problems with tyres coming off batteries falling out and the glued on side armour/front supports coming off.
These are I hope now corrected with slightly harder tyres, batteries stuck in and side armour/front supports screwed and glued.
Also as it is not possible to vary the weapon I have changed its name to Combatant.
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Re: Peter Wallers Robot Ramblings

Postby peterwaller » Sun Jan 29, 2017 10:18 am

Finally some one has done some significant damage to my nylon armour and as expected it was Alex with Horizontal Spinner of Doom.
Flippant still managed to win the fight and it turned out they shouldn't have fought anyway but considering this is the 4th full combat event each with 4 nylon armoured robots I am more than pleased with the Alloy 910 nylon.
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One of the other gouges was from a previous fight I think against one of Rory machines.
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Re: Peter Wallers Robot Ramblings

Postby peterwaller » Mon Jan 30, 2017 11:43 am

All better.
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Anticyclone was running well but seem to lack bite mainly I think because the blades are fairly well rounded so need a bit of work.
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Towards the end it was starting more slowly and catching the arena more so I stipped it down to find 3 of the 4 motor mounts had fractured.
Image
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Re: Peter Wallers Robot Ramblings

Postby peterwaller » Thu Feb 02, 2017 10:12 am

As I mentioned the blade on Anticyclone had been rather rouned even though it is type 5 Titanium.
I suppose as you can drill and hacksaw it can't be that hard so I thought I would try the spring steel I have on Combatants drum as it is almost impossible to drill.
Reading on the internet high carbon steels can be annealed (softened) by heating it to red hot and letting it cool slowly.
I received some spring steel this morning and gave it a quick test and sure enough the drill made the tiniest mark on it.
I then placed the strip in the vice to stop the heat passing along the material and just heated the very end and after it cooled I was able to drill it fairly easily.
My intention is to find a way to heat sink the two ends of the blade and just anneal the center where I need to drill it for mounting.
The ends I can cut with a dremmel without softening and grind to shape.
You can re-harden the steel by reheating it and then quenching it but I don't think I will need to do that.
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Re: Peter Wallers Robot Ramblings

Postby peterwaller » Fri Feb 03, 2017 7:55 pm

I made the new blade with the center annealed and although it took a bit of work to drill the 8mm hole in the center needed for Anticyclone I was really pleased with the result seen below on the right next to the old blade.
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Then I realized I had had another senior moment ( well I do clock up three score years and ten this month ) and forgotten the difference in density.
I had reasoned that as both blades were 2mm thick and about the same area they would probably weigh about the same but the new blade was about 8 gms heavier.
By the time I had hacked enough off of it to get the robot in weight using a dremel and diamond disc the whole blade had gone blue suggesting I had annealed it so I had to reheat it all up and immerse it in oil to re-harden it.
Here is the final blade which only time will tell if it is and improvement.
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Re: Peter Wallers Robot Ramblings

Postby peterwaller » Mon Feb 13, 2017 11:08 am

I was a bit disappointed having to cut down the new spring steel blade on Anticyclone so I decided to see if I could improve the design and save a bit of weight to get a full blade in.
By inverting the chassis and using a smaller diameter motor I was able to simplify the chassis and get the spinner and wheels much closer to the front.
The resulting weight saving means I now have a full blade of the same length but with an extra centimeter of reach.
Not only that but for the first time in a while I managed to design and print the chassis in one attempt with everything correct although I was a bit disappointed with the Scarlet dye which came out a bit pink for my liking.
I now have a new gas torch which got the center of the blade hotter and made the drilling even of the 7mm hole as easy as mild steel.
Here it is with anticyclone showing the improved reach.
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Here is the under side just waiting for a brushless controller to finish it off.
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Re: Peter Wallers Robot Ramblings

Postby peterwaller » Tue Feb 21, 2017 10:56 am

I have been thinking about all the new bigger blades about and am considering an expanding horizontal spinner.
As you can see from the cad drawings it is not exactly original but that is getting more and more difficult these days.
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Image
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Re: Peter Wallers Robot Ramblings

Postby peterwaller » Fri Mar 10, 2017 11:12 am

One of the things I have noticed lately is I tend to flit from idea to idea without always completing them. :oops:
I have the unfolding spinner part designed and a new controller awaiting the PCB's and now I have started playing with walking mechanisms again.
Although my walking mechanisms have worked quite well they have always been to tall giving robots that are top heavy or difficult to self right.
The walking mechanism on shuffleaction was 70 mm high and I got that down to 60 mm on Mutant but I have just built an invert-able one that is only 40 mm.
Here it is in action.
https://youtu.be/jr_mbMjc8lM
Not sure what to use it in yet but they are fun to play with. :roll:

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Re: Peter Wallers Robot Ramblings

Postby peterwaller » Tue Mar 14, 2017 9:01 pm

The circuit boards arrived today and except for a slight hiccup on the servo connector which was easy to overcome it actually seems to work although I might need to tweek the software as inverting the table seems to have affected the centering slightly. The boards arrived with gold plated pads which are very easy to solder to.
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Last edited by peterwaller on Tue Jul 04, 2017 10:12 am, edited 2 times in total.

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Re: Peter Wallers Robot Ramblings

Postby Shakey » Tue Mar 14, 2017 9:46 pm

Nice and shiney new boards!

Also loving the folding out design you have going on. We'll have to see yours and Rorys have an extra wide fight sometime. :D
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Re: Peter Wallers Robot Ramblings

Postby Rapidrory » Wed Mar 15, 2017 8:37 am

Looks good! What's the fine pitch chip between the processor and the driver chips doing?
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Re: Peter Wallers Robot Ramblings

Postby peterwaller » Wed Mar 15, 2017 8:57 am

That is a quad OR gate as I said I bottled it a bit to generate the different wave forms required by these these drivers so I didn't need to change processors or redo the software.
As it turns out just inverting the data table seems to be causing centering problems so I might need to rethink that plan.

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Re: Peter Wallers Robot Ramblings

Postby peterwaller » Wed Mar 15, 2017 3:12 pm

The problem was that the variable PWM waveform was upside down for this chip so it ran flat out with the stick in the middle and slowed down as you moved the stick.
So I worked out that if I change the OR gates to NAND they would give the inversion required and still work correctly with the two direction lines.
Having just ordered some from ebay I realised that I shouldn't have inverted the lookup table, but just the values within it, which I have just tried and it seems much better.
Here is built up board you can just see the slight fiddle I had to do on the servo output connector to bring out the throttle channel and not the aileron.
Image
Last edited by peterwaller on Tue Jul 04, 2017 10:13 am, edited 2 times in total.

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Re: Peter Wallers Robot Ramblings

Postby peterwaller » Thu Mar 16, 2017 8:46 pm

Killing two birds with one stone I have just been testing out the new controller board with the walking mechanism.
The controller still has one slight fault where full forward combined with full turn can result in slightly exceeding the max pulse length causing the fail safe to kick in.
Also something I have just noticed if the transmitter is turned of the walker rotates instead of standing still which is a little bizarre.
https://youtu.be/dsPMbXTxqhU


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