Pinky buildLog

 Pinky, the octopod AI robot.

Goals: Learn more engineering tricks: Mechanical, Electrical, Software. 

• Mechanical engineering; Gearing, Servos, Bearings, Nuts, and Bolts.
• Designed in Fusion 360, then export URDF for ROS.
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• Electrical engineering; Battery (Li-Po), Voltage Converter (5V, 10amp), Microcontroller (pi Pico), Microprocessor (pi Zero W), PWM control board (PCA9685)
• Software engineering; Windows with Ubuntu VirtualBox (lubuntu20.04), ROS noetic.

Progress videos:

JointControl:

Stand command:x)

In depth details:

1. knee/hip joints. Drive gear tooth count are: ankle=9t(2x), knee=12t(1.5x), hip=20t(0.9x)
2. 12ish Volt Li-Po -> voltage converter -> 5-6volts -parallel> 2 PCA9685s v++ terminals
3. Software
1. Set up Ubuntu VM
1. Enable shared clipboard, folder - guest additions
2. Install ROS on VM 
3. Configure ROS ENV 

TinyWorldJames

 

3D printed pottery upload 12.17

1.$55

2. SOLD

3. $95

4. $75

5. $40

6. $50

7. $39

8. $65

Setting up Octopi on a Raspi4 for use with Ender3

1. Download .img file from octoprint.org
2. Burn .img file to microSD card with WIN32DiskImager
3. Modify octopi-wpa-supplicant.txt with notepad(win10) with my local wifi settings, so I can run it headless(no HDMI out).
4. Insert microSD into RPI4, power on.
5. SSH into my router(RPI0W) use arp -a command to list connected devices, find octopi's IP address.
6. SSH into octopi, user name:pi, password:raspbery.
7. Customize your own options with "sudo raspi-config.
8. Set up OctoPrint through its web interface.

Glazed Prints