Chebyshev Linkage walker Unit for OTTO

prusaprinters

Note: This model design and instructions are now in progress. This explanation is still incomplete; but I cannot answer all your inquiries. I'll try to solve if the notified problem.This is a Chebyshev-linkage walker unit for head unit of OttoDIY project; thus you can program movement of this one using Arduino and Ottoblocky.Requirements:Head Unit of OttoDIY with Arduino Nano Shield working with 9V battery/toggle switch.STL models: (Updated on Dec.011, 2022) 1 x Base Plate v2.1 (updated)6 x Shaft8 x Leg4 x Upper parallel link4 x Lower Parallel link4 x Rotation Rod8 x Lower Vertical link4 x Upper Vertical LinkN/A2 x Rotation PlateScrews (bolts and nuts)M2 x 10mm with washer and nut x 2416 for fixing Upper Vertical Link/Lower Vertical Link/Rotation Rod/Parallel Link8 for fixing servo motors to Base PlateM3 x 30mm with washer and nut x 4 (Changed)for fixing Lower Vertical Link to Base ShaftM3 x 25mm with washer and nut x 2for fixing Rotation Rod to Rotation Plate/ShaftScrews (tapping/wood screw)1.4mm screws for fixing servo horn to Rotation Plate x 42.1 x 6.3mm wood screw for fixing Top plate on Base Plate x 42.1 x 10mm screws for fixing servo horn to servo motor x 2Servo Motor2 x SG90-HV Rotation servoNote:For fixing M2 x10 mm screws for connecting linkages and M3 x 25mm screws for fixing rotation rod to rotation plate, nuts have to be press-fitted with heating using soldering iron. See pictures for detail.2mm, 3mm and 5mm drill bit may be needed to adjust diameter of holes for screws and linkage.There are four types of rotation plates of which thickness are different. it depends on combination of servo/servo horn and printing quality. Please choose the goodPlease refer pictures for assembling instruction.Post-PrintingUpper pararell link with leg, upper vertical link, rotation rod and two lower vertical links.Combine the pararell link with leg, upper vertical link, rotation rod and two lower vertical links, then attach lower pararell link.Assembly pattern of linkages.press-fitting using soldering ironPress-fitting of 3mm nut on rotation plateCategory: Robotics