Difference between revisions of "Aiw hardware"

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* 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!
 
 
 
  
 
=[[pyramid_2008]]=
 
=[[pyramid_2008]]=
  
 +
=[[Drive_assembly_2008]]=
  
 
 
 
 
 
 
=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=
 
=battery packs=

Revision as of 20:31, 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_2008

Drive_assembly_2008

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"