Let's Make Robots!

Ordis Solarius Articulum Kapacitusbankus Abampere Quinquaginta OSAKA50

Walks into the SunSet - using Theo Jansen Legs

I received a "Animaris Ordis Parvus" leg kit from our friends at Gakken .... 

AOP :- Just look at those legs

.... as a Bonus for sending my SchneeBeast for a Theo Jansen exhibition in Japan.

The original kit was powered by the wind and indeed it drives forwards in the lightest of breezes. (as proved by rik)

However it was calling out for a bit more power so what i present here is Solar powered version.

The basic idea was to split the beest in half and drive both sides independently.

With this configuration it can be set up to find and follow the sun.

Driving the motors calls for a  "Burst Mode" technique in the form of a Miller Solar Engine.

The Miller Solar Engine basically charges up a capacitor bank (6 x 3300uF in my case) from the solar cells.

After a predetermined voltage ..... all the power stored in the capacitor bank is transferred into the motor via a drive transistor..

This means that a much more powerful jolt can be supplied giving more power and torque, the plus factor is that it also gives OSAKA a very organic movement.

The Gakken magazine in question can be found here....

Otona no Kagaku Magazine (English).

Otona no Kagaku Magazine (Japanese).

And Non Stream Videos can be found here.... yes all 8 of them :-

OSAKA6.wmv OSAKA5.wmv OSAKA4.wmv OSAKA3.wmv OSAKA2.wmv OSAKA1.wmv OSAKA0.wmv OSAKA7.wmv

I bought the Solar Cells from OddBot (Dagu)

Sunny Field Tests.........Sun from the OSAKA-50s Left

Sun from OSAKA 50s Right

Ultimate Test - OSAKA 50 has been placed with his back to the sun

 

 

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Ohhhh Free-forming....why veroboard/PCB/breadboard when you can...... just fit things in space and work in 3D "yeah".

I am still trying to find a way to twist the freeform MSEs into some kind of "eyes"..........

Im am not one for circuit boards and you may have noticed from my other work i try to keep it all minimalistic.

This time to i have tried freeforming the gearboxs...ok,,ok there is a lot of hotglue but that can be easily encapulated.

However sometimes it neat to see what is actually going on within the structure.......

Nice work on the upgrade Gareth =)

Whenever I see exposed circuitry like your freeform MSE there, the first thing that comes to mind is short circuits...
If you're planning on releasing OSAKA-50 into an evironment where it might bump into metallic objects, I'd consider some extra protection. Personally I use a spray-on coating called 'PCB Lacquer' that gives a nice, glossy, waterproof finish. You can also solder through it and re-coat if you need to make any changes/repairs later.

Yes there is a lot of wire flaying around - i have tried to keep most of the bare wire deep within the structure.......

The wiring Tidy up is now in progress - was not sure about final placement of things.

The capacitors do give quite a current on discharge and it was Sparking onto some stainless steel spokes i am using to brace the chassis.

I tried using "Nail Varnish" however that is not the best solution - instead i used rubber tubing for insulation.

OSAKA-50 needs a lot of supervision when on the floor, one reason why i have now built a Bamboo restraining rig.

Or more to the point: to drive a differentially driven vehicle? One Miller Solar Engine per side? Or am I missing something fundamental bout the beauty of an MSE?

Never built a BEAM in my life, I admit.

Yes two MSEs one for each side.....  only common rail is  the capacitor negative ring - because the copper ring machanically  stabilises the whole capacitor bank ....shhhhh.