|Go home robot, you're drunk!|
This week has been mostly errors in the 'trial and error' school of invention. But, alas! that is part of the process.
Mojo did get a new chassis and spent some time moving the components from the previous version to the upgrade. Important features include:
- additional separation of the knee and hip servos
- roll bars and front/rear bumpers
- more room for wiring and 9V battery
- "learnings" from the previous design/print - 7cm spans worked with better design
- room for future proto board, LEDs, Buttons, and Switches
|Mojo - New Chassis, improved SEA, same Compliant Quadruped|
The Fail of the Week was the secret "Lizard" project. I was kicking around ideas about a very basic crawler, something with two 'legs' that moved and drags the bot along. it would have just 2 degrees of freedom. In addition I added a pincher to the front, just because it was around. the pincher, takes away from the Lizard motif, but its cool.
Cool or not, I worked on a Minimal Viable 'Prototype', with servos stuck together and reused the old mojo chassis. I wried up a 5v, 2A power bank, a Arduino Pro Mini and the servos. A few lines of Arduino sketch, and I thought I was ready to go. Unfortunately, I got no movement from the servos. I checked the wiring, all good, code up loading, check, code running, check. Odd smell? check! When I picked up the bot, I noticed that the servos were 'Fire Dog Hot' and smelling cooked! I am pretty sure they are toast now. This I did not expect. Everything was 'safe', more debugging needed!!
Back to the drawing board for the 'Fail Lizard' - might as well make it a new beasty!
The down side of mechatronics, is that you typically burn out boards, servos, and sensors - in addition to hanging code. Fail Lizard brings my servo bone pile up to 5 servos!