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 

V2 - 2/9/24

Knee and ankle servos have been upgraded to MG996Rs

• Max Torque @ 4.8V =  9.4 kgf*cm
• Speed 0.17 s/60 degrees
• Knee gear ratio: 18:12
• Ankle Gear ratio: 14:10
• Ankle torque: 14kgf*cm
• Knee torque: 15
• Ankle speed(no load): 257.1 deg/sec 
• Knee speed(no load): 235.29 deg/sec

 and Hips are:

• Geared @ 18:9?
• MG90S(6)
• Torque 2KG/cm 
• POWERHD 1810MG(2)
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