PaulP wrote:
No offence taken TM, I know the feeling.
No offence taken TM, I know the feeling.
Thanks. I appreciate that.
I have the 1HV and have discussed the similarity of construction with a couple of AT owners.
The core technology and basic design was all done by Kondo, primarily by Yoshimura who also did the original KHR-1. I just finished upgrading my KHR-1 to the RCB3 and have converted KHR-2HV motions to run on it since the basic geometry is the same.
For the AT01, which I also have, many of the servo channel assignments are the same (the arm servo channels are slightly different, but the leg channels are identical.) It would be interesting to compare the actual geometry, especially the legs.
The width is the major difference, the height and length being almost identical means that the leg geometry is almost the same. I believe Orac has said several times that it is possible to run the same sequences on both AT and 1HV.
How about trying some AT01 sequences on the 1HV? I could send you some test motions, if you want to give it a go.
As to the 'clothes' fitting though, I dont think there is any hope whatsoever. Would be nice though.
True.
On the 1HV, the 4024's are in the shoulder and it may be the plastic surrounds and bearings that make them appear sloppy and noisy.
I'll make a point of checking it out next time I visit RoboSpot - hopefully next weekend.
To be honest, I have not seen what a standard servo runs like, the 788's (when you can keep them working) are incredibly powerful and it seems a waste to put something even more powerful in the shoulder. I suspect the real reason for using 4024's is to give a more realistic degree of movement as they never come under any real strain.
The Kondo folks, especially Shibata, wanted to make the 1HV as realistic as possible, and picked the 4024s for the increased rotation angle. Here's a 1HV that we ran during the RCB3 firmware upgrade demo-
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The ones that could do with beefing up are the ones around the hip area, just below the rotate. They suffer some real strain when doing any sort of fancy legwork. The ankles do as well.
The leg pitch servos need as much torque as possible. The 788s are okay, but the problem is you have no easy upgrade path. If you need more torque, the brackets have to be redesigned. It's one of the main reasons they went with the 4024s for the AT01 since the 4013s and 4014s are basically drop-in replacements with no body/frame changes at all.
Statistics: Posted by tempusmaster — Thu May 03, 2007 4:32 pm
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