Chebyshev Linkage walker Unit for OTTO
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Note: This model design is in progress. I cannot answer all your inquiries; but I'll try to solve if the notified…
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Model information
- Source
- Printables
- Category
- RC & Robotics
- License
- Creative Commons — Attribution — Noncommercial — Share Alike
Note: This model design and instructions are now in progress. This explanation is still incomplete; but I cannot answer all your inquiries.
I'll try to solve if the notified problem.
This is a Chebyshev-linkage walker unit for head unit of OttoDIY project; thus you can program movement of this one using Arduino and Ottoblocky.
Requirements:
Head Unit of OttoDIY with Arduino Nano Shield working with 9V battery/toggle switch
.STL models: (Updated on Dec.011, 2022)
- 1 x Base Plate v2.1 (updated)
- 6 x Shaft
- 8 x Leg
- 4 x Upper parallel link
- 4 x Lower Parallel link
- 4 x Rotation Rod
- 8 x Lower Vertical link
- 4 x Upper Vertical Link
- N/A
- 2 x Rotation Plate
Screws (bolts and nuts)
- M2 x 10mm with washer and nut x 24
- 16 for fixing Upper Vertical Link/Lower Vertical Link/Rotation Rod/Parallel Link
- 8 for fixing servo motors to Base Plate
- M3 x 30mm with washer and nut x 4 (Changed)
- for fixing Lower Vertical Link to Base Shaft
- M3 x 25mm with washer and nut x 2
- for fixing Rotation Rod to Rotation Plate/Shaft
Screws (tapping/wood screw)
- 1.4mm screws for fixing servo horn to Rotation Plate x 4
- 2.1 x 6.3mm wood screw for fixing Top plate on Base Plate x 4
- 2.1 x 10mm screws for fixing servo horn to servo motor x 2
Servo Motor
- 2 x SG90-HV Rotation servo
Note:
For fixing M2 x10 mm screws for connecting linkages and M3 x 25mm screws for fixing rotation rod to rotation plate, nuts have to be press-fitted with heating using soldering iron. See pictures for detail.
2mm, 3mm and 5mm drill bit may be needed to adjust diameter of holes for screws and linkage.
There are four types of rotation plates of which thickness are different. it depends on combination of servo/servo horn and printing quality. Please choose the good
Please refer pictures for assembling instruction.
Post-Printing
Upper pararell link with leg, upper vertical link, rotation rod and two lower vertical links.
Combine the pararell link with leg, upper vertical link, rotation rod and two lower vertical links, then attach lower pararell link.
Assembly pattern of linkages.
press-fitting using soldering iron
Press-fitting of 3mm nut on rotation plate
Category: Robotics