Project robot lawnmower

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Raess
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Re: Project robot lawnmower

Postby Raess » Mon Mar 05, 2018 5:21 pm

Assembly Of The Third 3D Printed Part. It came out very nice. Nice layers and very solid. I test mounted and it fits like a glove. One minor failure on this part was that I forgot to mirror a few holes. But i detected this to late in to the print (don’t want to waste filament).

IMG_2095.jpg
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IMG_2098.jpg
IMG_2094.jpg
Follow the construction of the Valify robot lawnmower [http://valify.se]

Raess
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Re: Project robot lawnmower

Postby Raess » Tue Mar 06, 2018 10:39 pm

So the fourth part for the Valify Robot Lawnmower was completed 30 minutes ago and the results are partly successful. This part was a tricky 3D print. It was very tall and relatively narrow. First off I got some minor warping/lifting in both ends making the part a bit oblique. But good enough to maybe work anyway. Because it was oblique the support beam structure was not as easy to slide in, I needed to apply some force making minor cracking in 3 places (lets see if I can retouch/fix this).
I will do some further investigations tomorrow if this part can be used on the robot. I need to confirm if the part can handle applied force and fix the cracks. I would also need to check if/or the oblique has any impact on the overall quality and that the front wheels would line up.

here is the part:
IMG_2101.jpg
IMG_2102.jpg
IMG_2103.jpg
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IMG_2105.jpg


as always you can follow the build on my blog http://valify.se
Follow the construction of the Valify robot lawnmower [http://valify.se]

Raess
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Re: Project robot lawnmower

Postby Raess » Thu Mar 08, 2018 9:24 pm

Part 5 is ready
IMG_2121.jpg
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Raess
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Re: Project robot lawnmower

Postby Raess » Sat Mar 10, 2018 2:37 pm

Part 6 ready!
5F736951-AD24-4BC2-8A93-B4F9210EA4C2.jpeg
Follow the construction of the Valify robot lawnmower [http://valify.se]

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woofy
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Re: Project robot lawnmower

Postby woofy » Mon Mar 12, 2018 9:54 am

Good Work.
For me, the real exciting part will be when you get to the electronics and navigation stages.
Keep posting.
Raise3D N2+, Ultimaker2 & UP plus printers.

Raess
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Re: Project robot lawnmower

Postby Raess » Mon Mar 12, 2018 10:13 am

Thanks woofy.
Yes same here ;-)

I made some minor changes to the robot drive system.
I will not be using Roboclaw and the DC Brushed Planetary Geared Motor (Because of the noise)

I will instead use:
-differential drive using two sensored brushless (BLDC) motors
-driven by two open source speed controllers (VESC)
-uses Field Oriented Control mode to have near silent operation.

First sketch of the new drive-system
drive.jpeg


I have also started planning the layout of the electronics (time consuming to get it perfect)
IMG_2144.jpg
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Raess
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Re: Project robot lawnmower

Postby Raess » Mon Mar 12, 2018 9:14 pm

Part 7 Fresh From The Printer
IMG_2160.jpg
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Raess
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Re: Project robot lawnmower

Postby Raess » Thu Mar 15, 2018 10:30 am

Part 8 will finish in a couple of hours :) In the meantime I am doing the final touches of the Drive-system before it is sent of for CNC milling.
All the parts for the drive-system is on the way and arriving in the coming week.
drive-system.jpeg
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Raess
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Re: Project robot lawnmower

Postby Raess » Fri Mar 16, 2018 6:37 am

Part 8 is now completed:
IMG_2227.jpg


Motors brackets prototype before CNC:
IMG_2242.jpg
Follow the construction of the Valify robot lawnmower [http://valify.se]

Raess
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Re: Project robot lawnmower

Postby Raess » Fri Mar 16, 2018 9:05 am

Test mounting prototype bracket
Read full post here: valify.se/2018/03/16/3d-printing-prototype-motor-brackets/
IMG_2273.jpg
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Raess
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Re: Project robot lawnmower

Postby Raess » Fri Mar 16, 2018 3:13 pm

CNC milling first part for the drive system! Looking sweet right?
5B4E9F93-6BC4-4B2A-99D9-073E86CCA431.jpeg

EBF0352E-1DF8-472F-99B1-C4234DF1EF66.jpeg
Follow the construction of the Valify robot lawnmower [http://valify.se]

Raess
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Re: Project robot lawnmower

Postby Raess » Sat Mar 17, 2018 12:17 am

A nice video on the CNC milling for the first part for the drive system:
https://www.youtube.com/watch?v=N8MIpB3ZfS8&t=162s
Follow the construction of the Valify robot lawnmower [http://valify.se]

DeX
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Re: Project robot lawnmower

Postby DeX » Sat Mar 17, 2018 7:28 am

thank you for sharing your project! very interesting, great!

Raess
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Re: Project robot lawnmower

Postby Raess » Sat Mar 17, 2018 12:43 pm

Thanks DeX!

Shafts are now ready. Splitting the shaft from 500mm to two 240mm. Grind top and bottom and bearings fits like a glove.
IMG_2330.jpg


Test assembly with 3D printed motor brackets and wheel hub. Everything fits perfect! I will add some extra mountings for the the vertical support beam. Other then that I think they are ready for CNC milling.
IMG_2325.jpg

IMG_2327.jpg



The horizontal support beam fresh from the CNC.
IMG_2331.JPG
Follow the construction of the Valify robot lawnmower [http://valify.se]

jon_bondy
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Re: Project robot lawnmower

Postby jon_bondy » Sat Mar 17, 2018 12:49 pm

Very cool project! Thanks for sharing it!

I wonder if the front wheels will be too small, and may dig in...

Raess
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Re: Project robot lawnmower

Postby Raess » Sat Mar 17, 2018 12:59 pm

Your always welcome! Thanks for the feedback jon_bondy. The front wheels will have a dim at 60-70mm, but will be designed more like a "ball". Ball wheels tent not to dig in. I will share the design when they are ready from the concept stage.

Cheers.
Follow the construction of the Valify robot lawnmower [http://valify.se]

Raess
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Re: Project robot lawnmower

Postby Raess » Sun Mar 18, 2018 9:02 am

Wheel print finished tonight. a 44 hours print. Looks Good overall. Printed with 3 shells 15% infill at 240C and 85C. It consumed 550grams of primaselect filament and the wheel feels unbreakable

F2C74438-2B94-454A-89BE-0A4D101D3BDF.jpeg


55C708FB-3ECE-4296-B15D-DFAFD32F2926.jpeg
Follow the construction of the Valify robot lawnmower [http://valify.se]

Raess
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Re: Project robot lawnmower

Postby Raess » Mon Mar 19, 2018 1:58 pm

Today I received the new BLDC motors & the VESC controllers for the Valify robot lawnmower.
Here is some pictures from test mounting on the prototype motor brackets:
IMG_2373.jpg

IMG_2379.jpg

IMG_2376.jpg


Also continued with CNC milling of parts for the Drive system:
Resized_20180319_141948.jpeg


Read full post here: http://valify.se/2018/03/19/the-new-bld ... ound-home/
Follow the construction of the Valify robot lawnmower [http://valify.se]

zemlin
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Re: Project robot lawnmower

Postby zemlin » Mon Mar 19, 2018 4:28 pm

I went to your web site and saw the photo of the wheel on your print bed. This thing is larger than I thought. What is the overall length?

Raess
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Re: Project robot lawnmower

Postby Raess » Mon Mar 19, 2018 5:07 pm

Approximately 700mm ;-)
Follow the construction of the Valify robot lawnmower [http://valify.se]


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