Quantity | Material | Link | Price (Unit) |
---|---|---|---|
TODO | PLA filament (or any non-flex filament) | ||
TODO | Flex filament | ||
7 | CAN bus cables (see below for lengths, JST-PH3 connectors) | ||
7 | power cables (see below for lengths) | ||
1 | Battery (12V to 44V, >= 2000mAh) with XT90 connector. Note: LiFe batteries are safer. | ||
1 | Battery charger | ||
6 | QDD 100 beta 3 (NOT beta 2) | https://mjbots.com/products/qdd100-beta-3 | $539+VAT |
2 | moteus dev kits | https://mjbots.com/products/moteus-r4-11-developer-kit | $244+VAT |
1 | power dist board | https://mjbots.com/products/mjbots-power-dist-r4-5b | $149+VAT |
1 | pi3hat | https://mjbots.com/products/mjbots-pi3hat-r4-5 | $149+VAT |
1 | Raspberri by rev 4 | £40 to £80 depending on RAM | |
1 | screen for raspberri pi (TODO) | https://www.amazon.co.uk/dp/B0B455LDKH?psc=1&ref=ppx_yo2ov_dt_b_product_details | £38 |
1 | ~30cm ribbon cable for the screen | https://www.amazon.co.uk/dp/B075PBTQPG?ref=ppx_yo2ov_dt_b_product_details&th=1 | £3 |
1 | slim 80x80 computer fan, 2 pins | https://amzn.eu/d/8T4fS8s | £10 |
6 | 608 bearings | <£10 | |
TODO | M3x6 socket head machine screws | ||
TODO | M3x10 socket head machine screws | ||
TODO | M3x20 socket head machine screws | ||
TODO | M3 heat inserts | https://amzn.eu/d/d2RtyQ6 | £7 |
4 | M2.5 female to female 12mm (TODO confirm) spacers | https://www.amazon.co.uk/dp/B093FQH5WS?ref=ppx_yo2ov_dt_b_product_details&th=1 | <£10 |
4 | M2.5x8 | maybe above link | |
1 | (Optional) bluetooth keyboard and mouse | ~£25 |
Try to get the lengths right. Slack can be annoying.
- For each tibia, one CAN and one power cable. Length: 290mm.
- For each femur, one CAN and one power cable. Length: 340mm.
- Power dist board -> left qdd: one power cable. Length: TODO.
- Power dist board -> right qdd: one power cable. Length: TODO.
- pi3hat -> left qdd: one CAN cable. Length: TODO.
- pi3hat -> right qdd: one CAN cable. Length: TODO.
- power dist board -> pi3hat: one power cable and one (optional) CAN cable. Length: TODO.
- Solder a xt30 connector to the fan to connect to the power dist board.
Print all the .stl
files. Some files have (or will have) a .3mf
version if the print is difficult. Notes:
- The femurs and tibia print vertically. Adding a brim is recommended.
- Print the files with names starting with FLEX in flex filament.
- The tyres need to be softer than what you would get with the regular slicer settings. See the
.3mf
file, or experiment with slicer settings. - The parts are designed to be printed with a maximum overhang threshold of 60 degrees. Anything lower may result in unwanted support (may be hard to remove).
- Files with x2 in the name need to be printed twice.
- There are several versions of the battery holder depending on the battery dimension.
Order of operation (experimental): Legs (x2):
- Tyre on wheelset
- Screw wheelset to motor with 3 M3x10 screws (TODO confirm length)
- bearing in wheelset
- Insert motor plate into tibia
- Attach motor with 4 M3x20 screws (TODO)
- Add and attach ankle cap with 1 M3x6 or M3x10 screw
- Attach bottom ankle cap with 2 M3x10 screws (TODO)
- ...
Wheel radius: 80.66mm