Sunday, September 25, 2022

Mini Cheetah Clone First Test Drive

 One of the Chinese mini cheetah clone manufacturers was nice enough to send me one.  Stay tuned for a  detailed (non-destructive) teardown.

Monday, August 29, 2022

More Coiling

Once again Mike's tesla coil worked flawlessly - at least until someone tripped over the extension cord powering a fan cooling the primary capacitor bank.  We didn't notice until the capacitor bank burst into flames.


Sunday, June 26, 2022

First outdoor tests of the screw mechanism!

 Gremlins eradicated - USB hubs are  bad, don't use them:

"Only" ~3.3 meters in this test - not maxing out the motor/mechanism yet, there's still some motor control tuning to do.  And probably another round of transmission ratio optimization once the actual robot mass and inertia get finalized.

Tuesday, June 21, 2022

Finished Test Fixture

A robot-weight steel puck:

Test setup outside, before being beset by electrical gremlins:

Tuesday, May 31, 2022

Monday, May 9, 2022

More Screw Mechanism Testing

 Now controlled over CAN and USB, using a gui based on the espresso machine software

The the USB communication plus Python GUI gives me nice live-plots and logs.  Here's a plot of the fast position steps:

Tuesday, April 19, 2022

CPW Coiling

 Austin and I turned on Mike's tesla coil in the parking lot outside MITERS, for MIT's Campus Preview Weekend.  One precharge switch and resistor got toasted, but otherwise it ran flawlessly for two nights in a row:

Thursday, April 14, 2022

Monday, April 11, 2022

Lathe Preview

Lathe backstory and move post to come, but here's a sneak-peak.  Lots to do still to get it up and running, but so far I've been amazed by how little wear there is under all the gunk.

Tuesday, March 29, 2022

Tool Holder Tightening Fixture


Needs a cam handle, but it works.  3 different brands of tool holders with 3 different torqueing features, so I made this fixture that clamps a cylindrical section of the tool holder, which is the same on all of them

Sunday, February 27, 2022

Thursday, February 10, 2022

Foot Mechanism Prototype

 Quick and dirty prototype of a passive foot pitch mechanism:

CAD cross section:

To make a return spring I flattened the end of a 1mm spring steel rod and drilled a 1mm hole through the end for a dowel pin axle:

A drilled out screw acts as a guide bushing for the spring: