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Damon Eddy posted an update 10 years ago
Progress on my InMoov.
Great progress! I’m wondering why the arm suddenly falls down… Did you get a broken tooth on your gear shoulder?
Gael, thanks so much for the reply,
I was wondering the same thing at the time the arm fell, but if you watch the video, you will see it did a similar thing when it moved backwards and on the second try, it wouldn’t go as far forward as before.
After posting the video, I went to investigate, it didn’t take long to find the cause. I had sheared the top of the PivGear about 1/4 way around, as my arm would move, the set screw would just slide within the tear.
It turned out, I had also burned up the clavicle servo during the test. I didn’t comment on the video about the arm never moving outward, but while troubleshooting, I found I had forgotten to connect the PicPot to the servo. It was a quick $50.00 down the drain.
Well I pulled the arm & printed a . While disassembling the shoulder, I accidentally busted the PistonClavi in the process. It turned out to be a good thing because I wanted to upgrade from the PistonClaviV2 anyway.
I couldn’t recall where I had seen the more robust version, so I posted a question on the forum & quickly got the pointer, thanks to Richard Ryerson. So far I’ve printed the replacement PivGear, the new PistonClaviV3 but still need to print the PistonbaseV6. Once that’s done & I get a replacement servo, I can reconnect the arm.
In my spare time, like any of us have much of that, I have also been looking into several alternative designs for the InMoov. I’ve been working on several different shoulder designs. I’m trying to find one that not only would make it easier to replace the Clavicle servo when it does burn out, but also provide the same, if not better speed & torgue. I have also been trying to adapt two of my old designs to give InMoov a geater range of motion in the neck and in the wrist. And of course, the holy grail of robotics, the legs.
I came across a company on Saturday, that had developed a linear actuator that was very similar to a design I did about 25 years ago. I’m taking the information they provided and working on merging it with my own to come up with a 3D printable linear actuator that may be useful to InMoov. I’ll keep the group informed of my progress on each of these.
Sorry to hear about the burned servo and broken parts. Learning can be a hard process paved with issues. For info, I hav had 12 broken PistonClavi when I was trying to understand how to mirror the right arm to the left. Between the piston rotation and speed thread of the piston, it was a serious quest for solutions. There is other servos, like the Savox that are more powerfull if you want more torque. There is various iterations of my gear to get sustainable higher speed for the gear box of the shoulder and rotate. It would be interesting to see what is the linear actuator you are working on.