BorisMechanical

From Simreal

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Boris Mechanical Drawings

IMPORTANT NOTE -- the links on this page may not download correctly if you simply click on them. Use the "Save Link As" feature on your web browser...

All of the Mechanical Design for Boris was done on DeltaCAD -- a dirt simple drafting package, that also happens to export DXF data. Darn handy. Very easy to use. And most necessary if you want to view the following files.

Body This file has several sections. In the top, it shows the hip or "spider" that attaches the leg to the body. Note that I will be modifying this piece in the final design so that the cylinder attachment for swing is futher out -- so I can avoid interference with my cylinder, and acheive a full, balanced swing. Below that is the body as it looks assembled, and to the right of that are the details for the body.

Leg This file is in two parts. The top part details the upper leg or "thigh" of the robot. This has come a long way since the initial prototype! The lower part details the lower leg or "shin" of the robot. Note that I only show one allthread for a foot mount; I will probably have three, one on each vertical section, for a stronger foot attachment.

Dimensioning Shows the math I used to calculate the truss elements in the legs. It gets kind of tricky!

Cylinder Bracket This bolts onto the frameworks and holds the base-end of the pneumatic cylinders. I am using a custom bracket here because the "stock" brackets are longer than necessary by a half inch or more!

Backing Plate This goes behind the cylinder bracket, like a big washer, to strengthen the attachment.

Body Flange When I made my first body flange for the prototype, I didn't have all the "doo-dads" on it. But then I started to worry about the strength; after all, these provide the sole attachment for the leg onto the body! So I made it complex, and I'm sure it's giving my machinist fits.

Bracket Riser This is a spacer for the bottom of the thigh, where I can attach the bracket and cylinder that actuate the shin. It will be welded onto the framework near an intersection, and should be quite strong.

Sensor Bracket I may make these by hand and save Shane the trouble; they are realy quite simple parts. Their purpose is to hold the potentiometers that I use to measure leg angle.

Cylinder Clip
Hip Cylindefr Clip These clips are welded to the frame at the appropriate spots, and provide attachment points for the rod-end of the cylinder.

Inside Hip Flange
Inside Leg Flange
Outside Hip Flange
Outside Leg Flange These flanges are the pivot-points for the leg joints. Inside of half of them will be a bronze bushing to provide a smooth pivot surface. The other half are simply axel supports. Where the sensors are attached, the axels are actually pinned to one side of the joint, to provide rotation in the sensor.

Sensor Pin This is such a simple part; it is merely an axel pin that is configured to work well with the sensor attachments at the joint.