Thor Log
'History '-------
24 July 2011
Ported Loki14.BS2 to the PicAxe28 and changed Poses and ActAdjust to suit different servo arrangement.
15 July 2011
Built two PicAxe28x2 Shield bases for the two Thors
12 July 2011
Fastened hip axles on Thor1.
Made axles for Thor2. Made brass axle bushings for Thor2 because the holes had burned oversize.
11 July 2011
Refitted the Corona servos.
10 July 2011
Since the Corona servos took more current I decided to fit Cirrus CS601BB servos which are 5.5Kgcm and 0.2sec/60deg @4V8 and only take the same current as S03s. The Cirrus servos were not smooth, I couldn't lower the body gently as with the Corona or GWS, it jerked a lot.
6 July 2011
Built Thor2. Uses Corona CS-5388P Analog Servos, Ball-bearing, 5Kgcm, 0.14sec/60deg @V?; faster and more powerful than the S03 but take ~1.5 times more current. Revised the feet by slightly reducing the width of the sagital members, more in keeping with the original concept.
6 July 2011
Made and fitted new feet. See ThorDesign1-100dpi.jpg below.
It is a lot easier and quicker to make new parts by Bandsaw, Beltsander Pillardrill and files. (Pricked through the drawing and cutout cardboard templates.)
Thor chassis now works very well.
TechSupplies - Revolution Education, now have a PicAxe28X2 Shield Base board[1], ~£10 including Prototyping Shield. Ordered one for Thor.
[1] to take Arduino Shields.
3,4 July 2011
Cleaned and sanded the parts, glued them together and fastened in the GWS S03 servos.
S03 0.23sec/60deg 3.4Kgcm @4.8v.
On test, controlling one hip serovo from a servo tester, the feet are too flimsy and bend.
2 July 2011
Lasercut Thor2 at the FabLab.
1 July 2011
Learning to use the Laser Cutter at the FabLab Manchester. I already had the Thor CAD model so used that.
First set of parts for Thor on A4 sized sheets of 4mm plywood. Too much charring of the parts, very dirty.
Turned out I forgot the TorqueArm brackets for the Pelvis (4 off).
August 2008
CAD model of Thor built in ProDesktop
January 2003
| ThorDesign1 - squares are 5mm. Also shows the later foot design. | ThorDesign2 - squares are 5mm. |
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