Saturday, March 21, 2020

Milli (#7) - Update: Added Steering and Pede-Wheels

Milli is a bio-inspired robot that uses a single actuator to create standing wave motion.

Update: I have been somewhat distracted (as we all have been with this virus), but here is some progress made.  I have added a forward section of the frame to provide room for a steering mechanism.  For the first prototypes, I will use a set of wheels that can be turned to steer the 'WildWorm' in a new direction. This may look like a traditional vehicle, but all of the motive force propelling the robot will still be from the oscillating standing wave motion.  In order to keep the Millipede motif, the front wheels will be made of little feet!

Here is a CAD view of the current design:
Milli in CAD - Single actuator bio-inspired robot 20MAR2020 (OpenSCAD)

and here is the current printed version:
Milli 3D Printed - Single actuator bio-inspired robot 20MAR2020 

Next steps:

  • build a system to support a servo for steering
  • consider balancing the robot with a 'tail'
  • and it still needs a monster millipede head!

Monday, March 9, 2020

Milli (#6) - Many-Many New Feet

Milli now has many many new feet!

Milli is a sinusoidal, bio-inspired Millipede Robot.  It is completely 3D printed and is made of recycled printer parts and a metal cloth hanger.

Apologies for the delay in posting, it has been a busy month working on my startup (non-robot) business. However, this weekend, I booted up the 3D printer and created a whole new set of golden feet for Milli.  81 new feet to be exact! (not quite a "milli" but getting closer)

Milli - millipede robot track - new feet
Mathematically, the new feet should provide more distance ground traveled with the twist of each tread. This will result in an even faster robot!  The additional ground speed will also be enhanced by the additional grip (friction) with the ground surface, resulting in reduced slippage.

Milli Robot - Tread-Track with new feet 3D CAD design
Each tread now support either 3 or 4 feet.  The 3 or 4 treads are interleaved, to prevent the feet from colliding when they are traversing the rotating helix. The resulting sinusoidal motion will spread the feet as it comes to ground contact. Then contract the feet when lifted.  -- Video coming soon!

Milli Robot - close-up of the new track-tread-links
The result of the additional stretch between the expansion and contraction of the feet will result in a faster motion for the (standing wave) motion of the tread. Theoretically, the feet can be extended a bit further, this will be interesting to see in the future!

I am currently working on the 'head' of the Milli Robot. The new version will support axle and wheel-feet (feet-wheels?) to provide steering.  In addition, I need to create a place to stow the battery and controller.

In other news...
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