Project robot lawnmower

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Raess
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Re: Project robot lawnmower

Postby Raess » Tue Apr 17, 2018 7:50 pm

Always happy to share Timber Haint. :-)

Update:
The robot got eyes! Before mowing along with the design of the nose I needed to confirm the field of view. Running Intel® RealSense™ ZR300 over ROS.
Video of test here:
https://www.youtube.com/watch?v=fTPpbqmSl9k
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Raess
Posts: 133
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Re: Project robot lawnmower

Postby Raess » Thu Apr 19, 2018 7:30 pm

Today I finished with the design of the new nose.
new design nose.png


Before printing the new nose I decided to print only the housing for the ZR300 camera. The partly printed part came out great. The main modification from the original housing is that the housing is made deeper so the PCB can be mounted deeper allowing the USB head to be mounted in the USB socket (not possible before)
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Lets see if I should start the print tonight :)
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Raess
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Re: Project robot lawnmower

Postby Raess » Sat Apr 21, 2018 5:07 am

So yesterday, CNC milling of motor brackets was started.
The inside contour was finished. The outside contour is left. :-)
mb.jpg

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Raess
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Re: Project robot lawnmower

Postby Raess » Tue Apr 24, 2018 7:19 am

Update to the build:
First big body cover printed. The part came out great. Running PrimaSelect PETG Solidwhite at 240C. This print was printed with 0.6mm nozzle instead of the original 0.4mm. layers looks nice and even! This part was printed at 2 shells at 10% infill and print time landed on around 15h.

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The motor brackets are ready and just some minor things left to be CNC milled. Then finally I can assemble the drive system
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Raess
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Re: Project robot lawnmower

Postby Raess » Tue Apr 24, 2018 7:39 am

Here is some pictures printing part 1/2 of the wheel arch.
IMG_3054.jpg


Sometimes the support structures fails to stick enough to the bed and to save the print and a bunch of filament, duck tape saves the day :-)
IMG_3057.jpg


This part had very little bed surface, but it managed to stick to bed and the print came out great!
IMG_3061.jpg
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DS2017
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Location: San Diego

Re: Project robot lawnmower

Postby DS2017 » Tue Apr 24, 2018 5:25 pm

Raess wrote:Here is some pictures printing part 1/2 of the wheel arch.
Sometimes the support structures fails to stick enough to the bed and to save the print and a bunch of filament, duck tape saves the day :-)
IMG_3057.jpg



Have you tried Solid Base Layers under the Support settings? It creates a sturdy base for your supports.
Increasing Horizontal Offset helps too by thickening the size of the support width wise.

Timber Haint
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Joined: Thu Jan 11, 2018 2:24 pm

Re: Project robot lawnmower

Postby Timber Haint » Tue Apr 24, 2018 5:51 pm

Another suggestion would be to also use a raft. I always error on the side of a raft if I think the print will come off due to bed adhesion issues and they come out great.

Raess
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Re: Project robot lawnmower

Postby Raess » Tue Apr 24, 2018 7:03 pm

DS2017 wrote:
Raess wrote:Here is some pictures printing part 1/2 of the wheel arch.
Sometimes the support structures fails to stick enough to the bed and to save the print and a bunch of filament, duck tape saves the day :-)
IMG_3057.jpg



Have you tried Solid Base Layers under the Support settings? It creates a sturdy base for your supports.
Increasing Horizontal Offset helps too by thickening the size of the support width wise.


No I have not :) Mostly because I haven't seen it, In what version of Ideamaker is this available?

never mind I found it. I give it a go.! :)
Last edited by Raess on Tue Apr 24, 2018 7:28 pm, edited 1 time in total.
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Raess
Posts: 133
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Re: Project robot lawnmower

Postby Raess » Tue Apr 24, 2018 7:04 pm

Timber Haint wrote:Another suggestion would be to also use a raft. I always error on the side of a raft if I think the print will come off due to bed adhesion issues and they come out great.


I have tried rafts and they usually create more problems rather then helping me :)
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Raess
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Re: Project robot lawnmower

Postby Raess » Wed Apr 25, 2018 7:00 pm

olala, Today all parts for the drive system is completed.
Some parts will be welded together and then the assembly will begin next week!
IMG_3139.JPG

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Raess
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Re: Project robot lawnmower

Postby Raess » Thu Apr 26, 2018 7:08 am

I just uploaded a behind the scene step by step modeling Autodesk Fusion360 video on YouTube. See the birth of the robot from scratch.

https://youtu.be/TroIcguRpW0
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Raess
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Re: Project robot lawnmower

Postby Raess » Thu Apr 26, 2018 7:11 pm

So today the rear wheel arch part 2 finished. 37 hours print that consumed around 450grams filament. I have to say that I was a bit nervous when printing this. 5mm thickness and around 250mm heigh, not much bed surface, but the raise managed to print it with success!
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Test assembly of the rear wheel arch’s. Looking quite Good. Part 2 is a bit warped but I think it’s fixable when doing the final finishing of the covers.
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Raess
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Re: Project robot lawnmower

Postby Raess » Fri Apr 27, 2018 6:24 am

Left wheel arch part 1/2 completed late last night!
IMG_3176.jpg


Test assembly. The covers fits nicely! Not so many parts left to print! I need to order more filament!
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Timber Haint
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Re: Project robot lawnmower

Postby Timber Haint » Mon Apr 30, 2018 3:44 pm

Do you have a guesstimate on what the total amount of filament has been so far for this project?

Raess
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Re: Project robot lawnmower

Postby Raess » Mon Apr 30, 2018 7:54 pm

Maybe around 7-8kg :)

Project update:
Drive system assembly test. Everything fits perfectly. Some welding left and we are good to go
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Raess
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Re: Project robot lawnmower

Postby Raess » Mon May 07, 2018 9:01 pm

So the last days I have been busy. All parts for the drive system was completed and tonight I finished the first test assembly of the drive system. Its a lot of parts for this part of the project and a lot of things need to be correct in order for a nice run. It took a bit of time to get it right and it was a lot of tinkering.
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Here is a quick video spinning the wheels:
https://www.youtube.com/watch?v=1KPyfEgN4iw
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Raess
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Re: Project robot lawnmower

Postby Raess » Tue May 15, 2018 10:59 am

First test drive. Works good. One pulley is making annoying sounds.
https://www.youtube.com/watch?v=JLS8scUtPG8
Follow the construction of the Valify robot lawnmower [http://valify.se]

Raess
Posts: 133
Joined: Thu Dec 28, 2017 8:35 pm
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Re: Project robot lawnmower

Postby Raess » Thu May 17, 2018 5:29 am

The URDF is very time consuming but its coming along nicely. I have added all joints and are now working on to make them work as in reality.
The wheels are working great and the visualization in RVIZ presents the reality very well.

I have also started to work with the IMU joint and the ability to visualize the rotation of the robot (pitch, roll,yaw). To got this working I am using robot_localization pkg (sensor_fusion) Here I am fusing Odom and IMU to odometry/filtered. The visualization is still not very good for the IMU and will need some more love

https://www.youtube.com/watch?v=GskdKWzmPlU
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