Jon's Place

Sunday, December 24, 2006

Side View of CAD Model

I exchanged a couple messages with someone who was commenting on the weight balance of MicroRaptor. I thought it would be useful to post a render of MicroRaptor from the side, so you can get a better feel for how everything looks with respect to front/rear balance.


One of the nice things is the robot will be able to self-balance to a certain extent, by changing the positions of certain leg servos. The gross level balancing can be done with positioning the hips forwards or backwards along the body, although there isn't a lot of room to adjust it there. The tail has two pieces that I will be machining as well (the cylinder between the servos, and the cone at the end). Depending on need, I can machine those two pieces from a variety of materials (which have a variety of densities), including Delrin, aluminum, and brass. I can use a heavier material and drill a hole in the center, or even mix materials if required.

3 Comments:

  • Have you thought of testing it under simulator like Player/Stage/Gazebo, Webots or something akin ?

    By Blogger kert, At December 25, 2006 at 9:03 AM  

  • Well, you'd have to set up the model in there, and I'll bet that would be a lot of work. Not for the visual model, but for the dynamics of the specific servos it uses.

    By Blogger Jon Hylands, At December 26, 2006 at 3:25 PM  

  • its not actually very much work. Give it a try under physics editor like Scythe ( http://www.physicseditor.com/ )
    As the servos are all similar in Bioloid, you have to get values right once for it, and just copy stuff over.

    By Anonymous kert, At January 1, 2007 at 1:16 PM  

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