Work on the feet (foot motors)

Motors and feet work day

Although many builders including myself have started with the frame or body parts first, today I am finishing up the feet outer shells, the foot drives and wiring of the tractor gears.

This is so I can keep up with the programming side of the version 2.0 build.

[NOTE: having Luis Velasquez helping redesign the code to be more intelligent and autonomous functioning around the house without ]

Programming will involve various CPUs consisting of 4-6 Arduinos each controlling small portions of the functions of R2 (Foot movement, head turn, lights, sounds, door opening, flaps on dome opening, Arm opening, and navigation and AI)

Using the Frank Pirz plans for outer feet / foot drive, I constructed the system with new tractor chain movement rather than belt drives.

The plastic is now merged using strong adhesive called weld-on 14 and 4.

Also the thickness and design of the rounded foot shell is very much stronger than A&A feet that I built back in 2013.

This new version of the feet are key because of some important requirements:

1. Must be able to take a accidental kick from small woodland children
2. Must be able to withstand some stress from rolling around outside on various surfaces
3. two drive wheels make for more torque than the previous design (1 drive wheel and 1 desk chair wheel).

Here are some more pictures of the finished product

Working on the electronics next interfacing to the foot drives for testing against the new programming.