Difference between revisions of "Aiw hardware"
From DIDEAS Wiki
m |
m |
||
| Line 14: | Line 14: | ||
=system= | =system= | ||
| + | ==Proto 1== | ||
| + | *[[wow_left]] | ||
| + | ==Proto 2== | ||
| + | *[[wow_right]] | ||
| + | ==Proto 3== | ||
| + | *[[proto3]] | ||
| + | ==Proto BAK== | ||
| + | *[[protoBAK]] | ||
| + | |||
==gear system== | ==gear system== | ||
* 9.6 est small diameter ?? . (15 teeth?), 5mm more | * 9.6 est small diameter ?? . (15 teeth?), 5mm more | ||
| Line 22: | Line 31: | ||
* large pulley radius could grow by 7.3mm (abs max) - although part of the pyramid is in the way. lathe to fix that. | * large pulley radius could grow by 7.3mm (abs max) - although part of the pyramid is in the way. lathe to fix that. | ||
* 39mm pulley has 62 teeth - for a ratio of 4.13! | * 39mm pulley has 62 teeth - for a ratio of 4.13! | ||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
Revision as of 19:48, 24 January 2009
- SCREWS
- side plates (sholder screws) : 2.5mm
- K2 spring to ball nut / actuator : 2mm
- K3 spring : 7/64"
- front / back cover : 5/64"
- belt tension adjust : 50 mills
system
Proto 1
Proto 2
Proto 3
Proto BAK
gear system
- 9.6 est small diameter ?? . (15 teeth?), 5mm more
- ~25mm diameter - (40 teeth), 6mm bore
- w/belt 26.32mm diameter
- 35 mm spacing
- current ratio ~2.5
- large pulley radius could grow by 7.3mm (abs max) - although part of the pyramid is in the way. lathe to fix that.
- 39mm pulley has 62 teeth - for a ratio of 4.13!
pyramid
pyramid1
- 01-22-09 : installed in Backup
- 01-09-09 : recabled
todo
- TEST
pyramid2
- 1-20-09 : can't use in system with WOW battery pack.
- 01-09-09 : recabled
- 12-7-08 : found removed from proto3 with broken wire
- 12-3-08 : Installed on Proto3. SG gain needed to be reduced from 850 to 550.
- 12-1-08 : Q&D test, connector seems good
todo
- TEST
pyramid3
- 11-28-08 : May have been calibrated in OCT, current on test stand
pyramid4
- 12-1-08 : Q&D test, connector seems good
pyramid5
- 1-20-09 : installed new connector from pyramid 5, back inside proto2
- 1-20-09 : has flaky connector. removed from proto2
- 12-1-08 : operational on PROTO3. SG gain is 850.
- 11-28-08 : to be tested. May have been calibrated in OCT
pyramid6
- 01-09-09 : recabled
todo
- TEST
pyramid8
- 1-20-09 : removed connector cable and installed onto pyramid 5
- 1-10-09 : was working, however one of the 4 mounting pins came out and is unusable.
- 12-7-08 : installed on proto3 without testing. apparently doesn't work.
pyramid9
- 01-09-09 : recabled
todo
- TEST
motor / assembly
- left ankle belt riped, and replaced at 5.64N. Pully had runout, caused by under dimension of the pully. Believed to be cause of belt break. Everything fixed.
drive 1
- 01-16-09 : DRIVE 1 GEAR BOX IS OUT OF SEVICE! THE EC30 MOTOR from this drive is now in drive 3
- 1-11-09 : tried to replace with new GT2 white belt - but 2nd motor bearing cover has damaged torx screw
- 1-11-09 : the belt was probably replaced (with better used belt) on 12-8-09
- 12-8-08 : belt tension missing 1 of the 4 screws (head is broken)
- 11-28-08 : verified with +-1.5Amps
todo
- remove torx screw - possibly drill out and replaced with a hex flat head?
drive 2
drive 3
- right ankle belt previously tensioned at 5.64. Today was measured to be 4.2 - 4.4N. Retightened to 5.6
- 01-16-09 : DRIVE 3 IS NOW MATED WITH EC30 MOTOR FROM DRIVE 1 and is installed in Proto 1 with new White GT2 Belt and adjust to 5.64N using outlined fixture process
drive 4
- 01-22-09 : Replaced motor and re-adjusted belt to new set point of 6.64N
- 1-21-09 : installed into 'backup'
- 1-21-09 : Bearings have been replaced
- 1-19-09 : has defective thrust bearing
- 1-12-09 :Installed New White GT2 Belt and adjust to 5.64N using outlined fixture process
drive 5
- 12-6-08 : CEB tests drive, no response on any channel - all high - probably ground is open
- 12-5-08 : robert repairs encoder - by replacing with encoder from frozen motor
- 12-4-08 : problems with encoder, no pulses on channel b
- 11-28-08 : verified with +-1.5Amps
drive 6
- 1-19-09 : belt replaced with white GT2 and tensioned
- 12-6-08 : motor 6 pully has a problem. mounted incorrectly?
- 12-6-08 : added motor connectors
battery packs
- WOW#1 - 12.5 amp fuse
- WOW#x - 10 amp fuse
- WOW#x - 10 amp fuse
- WOW#5 - 12.5 amp fuse
bluetooth
- 100:001 : 8B (PDA -> right) "iwxxx1"
- 100:002 : 65 (PDA -> left) "default"
- 100:003 : DF (PDA #4
- 100:004 ??: 8E (PDA #5)
- ???:??? : 18 (PDA #3)
- others are "Iwxxxx" or "iwxxx"
