Solo12-Robot

This repo summarizes my changes to the Open Dynamics Robot Initiative Project.
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Table of Contents

• About the Project

  • Useful Links

• Changes Made to Original

  • Magnetic Encoder
  • M3 Belts and Pulleys
  • Motor and Center Pulley
  • 20x20 Hip AA Bearings
  • Foot Contact Switch

• Supplier Links

• License

• Contact

• Acknowledgements

About The Project

TODO TODO

Useful Links

• Original Project by the Open Dynamic Robot Initiative

• To-Dos for this Project

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All changes made to the original

Here you can find the Documentation of all changes that were made to the original Robot.

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Magnetic Encoder

The original Robot uses an optical Encoder. Due to its cost and the effort in assembly this was replaced with a magbetic enoder by AMS called AS5047.

Encoder Changes Mechanical	Encoder Changes Electrical	Config. and Arduino	uDriver

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M3 Belts and Pulleys

The original Pulleys and Belts were repalced with M3 Pulleys and the fitting Belts.

• The new Belts were bought here
• The new Pulleys were bought here

The .STL files of the Pulleys were also updated:

center pulley	Output Pulley
.stl New Center Pulley	.stl New Output Pulley

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Motor and Center Pulley

The Motor Pulley, Center Pulley and Motor Shaft were machined according to:

	Motor Pulley	Center Pulley	Motor Shaft
Manufactured:
Assembly
Machining Instructions PDF:	Motor Pulley	Center Pulley	Motor shaft

• Parts in a lathe until they matched the Drawings:

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20x20 Hip AA Bearings

The "Hip AA Bearing" of size 25 x 20 x 4mm were replaced with bearings of 27 x 20 x 4mm because of availability. The .stl files were updated accordingly. The bearings were bought here.

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Foot Contact Switch

• no foot contact switch was added yet. However, the cables are fed through for future add-on. Link

Supplier Links

All other parts were bought as described. I divided the Project into 3 parts. Here is a table for all parts from the Main Body:

Part	Description	Suppliers
Hip AA Bearing	Bearing to attach Hip FE to the body	123kugellager.de
Fasteners	All fasteners as described by the original	online-schrauben.de

Here is a table for all parts for one 3 DoF Leg:

Part	Description	Suppliers
T-Motor Antigravity 4004 300kV	Motor for the actuator	T-Motor Store
Fasteners	All fasteners as described by the original	online-schrauben.de
Timing Belt 4mm / length: 150mm / 50 teeth	new M3 Timing Belts	www.zahnriemen24.de
Timing Belt 6mm / length: 201mm / 67 teeth	new M3 Timing Belts	www.zahnriemen24.de
Bearing Output Shaft 32mm x 25mm x 4mm	bearing for each output	ekugellager.de
Bearing Motor Shaft and Center Shaft	8mm x 4mm x 2mm bearing	"
Bearing Timing Belt Tensioner	-	"
Motor Shaft	new shaft	reidl.de
Motor and Center Pulley	new M3 Pulleys	www.zahnriemen24.de

License

Distributed under the MIT License. See LICENSE for more information.

Contact

[email protected]

Project Link: This-site

Acknowledgements

• Ralf Bruder
• Elmar Rueckert
• Martin Buchschuster