October 4, 2014
Cole assembled the control board for the pneumatic elbow. The board didn’t work however. Tony later traced the problem to the fact that the pins on the dc power jack were incorrect in the schematic and the board layout (it Tony’s fault). He was able to correct the problem by scratching off one trace and soldering a jumper wire to the correct pin. It works great now.
Cole assembling the pneumatic elbow control board.
The final working board.
Conner began prototyping the control board for the DC linear actuated elbow.
Ed, Thelonius, and Joseph worked on mounting the linear actuator to the frame.
Thelonius with the DC linear actuator and the elbow frame for it.
The actuator is smaller than we’ll need for the final product. It’s capable of generating 200Lbs of force, which is about half what we need. The biggest issue is that the actuator is kind of slow for our needs — full speed is 1 in per second. We’d like to go 2 or three times faster than that. The company that makes it also has one that is more expensive but about what we’ll ultimately need.
Ed, Thelonius, and Joseph also worked on adding hip rotation to the armature.
Ed test fitting the hit rotation modification to the armature.
Close up of the hip rotation.