/robowaifu/ - DIY Robot Wives

Advancing robotics to a point where anime catgrill meidos in tiny miniskirts are a reality.

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Prototypes and failures Robowaifu Technician 09/18/2019 (Wed) 11:51:30 No.418
Post your prototypes and failures.

I'll start with a failed mechanism, may we build upon each others ideas.
>>8464 I hope you have a successful move Anon. I should be moving myself in the next couple of months as well. I'm trying to get better at programming, and also thinking about our operating system/computer hardware choices to help make robowaifus safe, secure, and reliable. It's a big area to understand it all! Anyway, everyone helping everyone else here goes a long way towards us all moving forward together.
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>>8456 Just some upgrade: I managed to find a solution how to build a holder for that motor, but it took me a lot of trying around. Felt quite fine working on it, for a while, but towards the end I started to get more and more distracted by other things. Probably bc I had enough of it. I also assumed that this cheap little motor is going to work, but didn't look into it. Turned out, if it's going to work I'll need a special driver or setup with a H-Bridge. Whatever, I'm currently focused on learning and training CAD, so there's no rush. It was more about learning how to solve a problem and generally about dealing with that specific one. Turned out, I wasn't thinking enough about it before getting started. After trying complex designs, a rather simple solution works now. I'll upload the file soon, maybe later today.
>>8561 Actually, your persistence is laudable Anon. Just keep at it. >After trying complex designs, a rather simple solution works now. This isn't uncommon. Many designs can only achieve simplicity after the complex route has revealed the elegant route. Not only is this true in design and engineering, but in things like writing as well. There's a well-known quote written by the French mathematician and philosopher Blaise Pascal: >"I have made this longer than usual because I have not had time to make it shorter." Pretty much every piece of software I've ever cared enough about to spend enough time to pay attention to it's structural design has been through this basic process.
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>>8561 I linked the upload here, in the skeleton thread >>8584 >>8568 Thanks for your encouraging words. But this was me scolding myself for not using my time better. I could do more. Next project: Early hamcat_mqq-style ball-joints. One thing I ask myself while starting: How round do these ball-joints need to be. Can they be a bit flat on one side? Pear-shape to reduce some material on the other side?
>>8585 Thanks for the pic of the hamcat_mqq Anon. That looks remarkably like the simplistic armature design I myself have been working towards. I may try to integrate your fittings/joints design in my own efforts. Thanks for your work.
>>8588 >hamcat_mqq more of his stuff is in the projects dump: >>7707
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>>8585 I was doing ball-joints today. Print-in-place was a difficulty, this means printing a mechanism at once, which then needs to break some supports of and being moveable. I got it working, by adding a hole to the bottom, so I could use a screwdriver to disconnect it from the ground of the cup. However, I'm still able to get the ball out and in again, which makes it pointless. It will most likely be better to print the parts separately, which makes them print cleaner. Currently it doesn't move smoothly.
>>8661 That's a neat idea about how to do mechanisms though. Just keep trying until you perfect things Anon. You get there! :^)
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>>8662 I think I have to be careful with the print-in-place idea. It's not necessary and trying to make it work is eating most of my time with every prototype I design. Printing parts separate also means they are cleaner and therefore run smoother. Though, it's probably so, that we'll need to add something to the outer shell of the sphere (ball) anyways, to make it smooth when moving but also having more grip. I was thinking about silicone rubber, but not sure yet. However, this is one more reason to print the parts separate.
>>8690 I like the way you're coloring/rendering those parts in the diagrams. Makes them easier to understand actually.
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>>8698 Yeah, but I should have converted the last pic into a jpeg, 5MB is obscene, the jpeg has 200K or so. These pics are the actual models, just with everything hidden. They look like that when I'm working on them, just with additional lines and points. The pic here shows the difference in quality between print-in-place (middle) and separated (bottom). Don't mind the little gap in the bottom sphere, I'm printing with 15% infill. Also, the bottom sphere is bigger, bc I wanted to test if I would still get it into the cup if I increase the size of the sphere 10% (Answer: No).
>>8699 Actually to my eye, it seems you're already coming up with nice shapes. Put something like that through a resin printer and you would basically have production-ready parts ready to ship off to manufacturing. You're making great progress Anon. Please continue doing so! :^)
>>8699 BTW, Anon posted a video about an android leg that uses a big ball-and-socket joint for an ankle. >>8704
I was playing around with the idea of re-creating the mechanism of the InMoov neck accuator after my posting here >>8718. I didn't look at the details, just trying it on my own. The first part (pic 1) wasn't printable, even with these supports. It's to steep. Number two also wasn't that great. Don't know how to describe it well: The outer rails were too thin, since it's only the edges that turn. I played around with some changes, but nothing made sense. I was able to print it, but it was quite dirty. The third try was more similar to the original design. First I got it wrong again, but I'm sure V3 would work. I didn't really try to print it yet, but it looks the same than the original and I printed that already. The details matter, the outer lines have to be curvy. You can see it in the part I marked. Picture number four is the shoulder part for the doll >>8585. I didn't print it yet and it will need some adjustments till it's really finished. I partially disassembled my printer to exchange the heatbrake, so let's hope I won't break anything.
>>8760 This is actually really informative watching your progress and following your thinking Anon. You're already able to design a wide array of parts, it's pretty encouraging to see.
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>>8760 I had some trouble with my printer after finally replacing the heatbreak with a all-metal one. Also some other distractions. I did still work a little bit on a prototype for a alternative shoulder joint, which is not a ball-joint. The blue part is supposed to be constraint to the body, the green part can then slide sideways on it, but is also supposed to tilt up and down. For lifting the arms sideways. Though the later I'll have to figure out by printing prototypes, which I can't do right now. The current design probably wouldn't work. I need to figure out the details and maybe add another moving part as well. The grey disc is a placeholder for a metal disc with bearings, so a attached arm on it could move without friction. This is for lifting the arm in front and back of the body. I wanted to have a holder for the disk integrated into the design at first, but realized that I want my parts to be printable with no or minimal supports. I need one plane side for that. So I added a hole to the later version of the design, for adding the disc with a holder using a screw. I might integrate some metal bearings into the other parts later as well, but this should be optional. However, I decided to build a prototype at some time (shipping problems currently) which will use motors in the chest and strings to move the shoulder. The idea is, that the strings can then later be replaced by airmuscles or other ones, so the motors shouldn't be necessary anymore. Though some might still be part of the design as a fallback solution. Since there won't be a motor in the shoulder the "bone" itself can therefore be kept small and be surrounded by some soft material. So her shoulder can look feminin and be soft like a human one. Btw, I'll plan to upload the files soon and also opening a Mega account so I won't need to use Catbox all the time. For now, in that case the idea is more important than the current execution anyways, and the signal that I'm still operational as well.
>>9142 Btw, the empty spaces in the middle of the organic looking part in the shoulder joint are for separating that part into two parts, for printing. So each one has a plane foundation, which will be on the printbed. They could be screwed or glued together, or I might later add some more space for a layer of machined metal inside, so they would be more durable. I will need to add contacts into the design as well, since I want to keep bending cables to a minimum. The hard parts of the joints are supposed to transfer energy and data through the body. The sliding parts need at least two metal layers to transport current, data might use some form of light communication based on LEDs with different colors. I still have to watch quite some videos on human anatomy and also read a little bit about it. There will also need to be a lot of trial an error. Then, I also spend some time trying to create a human-like ribcage in CAD. Not with much success. I used pictures from some scanned parts which I downloaded from Thingyverse or a similar site. It turned out to be hard to do that in Solvespace, at least with my skills. However, I want to do as much as possible in CAD instead of scultping, because it's easier to manipulate these files to add something later. So I'll try again at some point, probably after improving my skills in using the program first.
>>9143 I also found a front part, which would fit quite well to the chest of a hard-shell robot, but might also be interesting to print in a flexible material. It's a booby plate armor design, inspired by The Mandalorian. https://www.thingiverse.com/thing:2888954 I'm going to add this to the skeleton and armature thread as well, but only together with some other pics on my other device. I mention it here solely because it might be useful for adding a female look to some ribcage design very fast. Also, because it's part of the next picture. I used Dia, to put some of my pictures of prototypes and pictures of patters I want to use together, into a kind of diagram of what I'm working on. So I can have a overview and decide where I want to try next to push something forward. The pictures are sorted to some extend, to be circa at the place where the parts would fit into a build of a body.
These are excellent posts Anon. Seeing your design progress is inspiring. I'm particularly glad to see you working on the shoulder-girdle and ribcage areas. I think about those a lot and did a small study on the design and kinematics of the shoulder-girdle back in school. It's an amazing design actually. Keep up the good work, and may you have good success at it! :^)
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>>9144 So, I was watching videos on how to get a ribcage and shoulders right in CAD, because that's what worries me. I hope I'll try out Blender soon. However, after watching some video on how to draw a chest I got inspired. My problem might really be that I'm not trained in drawing people, and I found it's worth looking into that. I really wanted to do a ribcage ,build like a human one. Starting from drawing a chest I tried something else, what you can see on the pictures. One also shows the amount of complexity by showing all the lines. This is of course once again just crude prototyping which might not lead very far. Also, FYI this is meant to be printed in TPU when it's finished. So I might still put in some ribs on the outside (in PLA), but mainly for show to make them visible through the skin, without really having a full ribcage. The thick parts of the prototype would be made thinner or hollowed out to hold parts like small computers and such. Btw, here a no tiddies bc its not the outside, there would still go at least a a layer of power mesh with silicon on top of it. Also, it's far from finished, just wanted to give an update. The video was on a male ribcage anyways, so I have to feminize it anyways. I want our waifus to have a bit unrealistic waist to hip ratio (wasp-like), tbh. Like they would be wearing a corset. I also put some silicon on top of a small printed face of Sophie to check if it sticks. Even without thinning it, so that it goes better into all the cavities it actually does. Silicone is known to not stick very well to anything that silicone, it only sticks better by having a huge surface to hug onto. I'm thinking of making experiences with some silicone on plastic faces. This isn't really the my preferred way, since I would rater like to create a skull and then add soft silicone parts, but one step at the time. My printer is still not working, if you are wondering why I don't try to print some parts. I'm working on it, from time to time, but have to keep an eye on my frustration management.
>>9620 > it's far from finished, just wanted to give an update. That's fine Anon, I'm glad you did! It's enjoyable watching how you progress in your work to the final products. > I want our waifus to have a bit unrealistic waist to hip ratio (wasp-like), tbh. Like they would be wearing a corset. I think that's a really good idea from a character-appeal perspective. However, it may prove a little tricky that way from an engineering perspective. For example, Sophie Anon's challenges fitting all her new eye gear inside her head. Regardless, I'm sure you'll manage Anon. BTW, any idea what's wrong with your printer ATM?
>>9620 >My problem might really be that I'm not trained in drawing people, and I found it's worth looking into that. You are absolutely correct Anon. Life drawing is basically the key to being able to 'see' how anatomy works. There are a large number of drawing tutorials out there in many places on the Internet. Our webring's own /loomis/ has some too: https://anon.cafe/loomis/res/628.html#628 Good luck. It takes time, but you'll eventually get it if you just don't quit.
The important thing about >>9620 is that I realized that a really should work with subtraction in CAD. I had the wrong idea that I would need to keep my models ultra simple and also ideally not render something to then cut something of it away afterwards. Sense of perfection or the goal of keeping it simple can stand in one's way sometimes. Assembling of different files also works in Solvespace, but it is a pain to do with rather organic parts that don't really fit into each other, have to overlay partially, but still don't fit very well (see my try on a thigh in >>8456). >>9621 Don't want to discuss my printer problems here ( in this thread), that's why I didn't mention the specifics. I already have tutorials and advice, but thanks for asking. >>9622 Some of the /loomis/ examples are directly useful, thanks. I'll have to look into how to use wget or curl to get all the images. Many are more interesting for drawing then for creating a 3D model, but I can use some of them. Also, maybe I might want to learn drawing one day.
>>9631 >...Sense of perfection or the goal of keeping it simple can stand in one's way sometimes. I'll presume you are referring to the psychological state known as perfectionism in the first part here? While this is definitely a hindrance in many ways to a man's progress in whatever given field, I consider the latter to be practically a law for success. Conflating the two together is a fallacy. The former is a kind of obstinate drive to perfect one's perceived notion or ideal about a thing or a system. These perceptions are obviously, necessarily, a priori, incomplete. This pursuit is on the face of it misguided in a fundamental way, and will certainly lead to one's personal pain and suffering. Balance in all things, and knowing when to quit are two important characteristics of a man's growth to maturity. You'll never get things perfect in this life. Good enough is, well, good enough. :^) However, the latter 'law' of simplicity is the primary effective means ever discovered that lets men tackle the absolutely unchangeable nature of the world around us. It's one of the rather few means at our disposable in our ever-running 'battle' with The Second Law of Thermodynamics (commonly known as Entropy). https://www.grc.nasa.gov/WWW/k-12/airplane/thermo2.html https://en.wikipedia.org/wiki/Second_law_of_thermodynamics The insulting mnemonic phrase 'Keep It Simple Stupid', while a good admonition, is actually a blatant misnomer. Only the 'stupid' man doesn't work to keep things simple in their lives. The intelligent man works hard to do so. This should be instead: Keep It Simple, Smartguy When you're dealing with the monumental complexity of devising a working, IRL, autonomous gynoid robotic companion -- which we as a team here on /robowaifu/ are endeavoring to -- then keeping it simple is literally the only possible pathway for us to eventual success. >tl;dr Put simply, all things around us tend to disorder. "Keep it simple" is a good way to keep this manageable, and maintain both order and sanity.
>>9631 >Some of the /loomis/ examples are directly useful, thanks. I'll have to look into how to use wget or curl to get all the images. I can look into compiling an archive of the whole board and posting it for you somewhere Anon. Might also turn out to be a good resource for more than just /robowaifu/'s use tbh.
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I didn't really archive much to report recently. I worked a bit on the chest, to put in spaces for ribs in another material and was also starting to work on a long term project of building the bones of a hand out of layers, which could then be PCBs (electronics) with sensors, plastics for the form and metal parts for strength. I also got some more stuff from AliExpress, but didn't really work with it. Some motors will arrive soon. I had some problems with my Raspi. I thought it was the software or my disc, since it got slower and slower, but it was the SD card which failed a while later. I finally looked into getting a new PC, which took me some time because I had to find out what to buy in the current situation and how to get it. I also finally worked on getting my Laptop running, which is weak, but better than my Raspi3. I had troubles to work on my design on my Raspi, I had to wait to often. I also had to look into not missing out too much on business opportunities, which I ignored in favor of my main dedication here. Not sure how much time I'll have during the next two month, but I'll work at least a little bit on my designs and with my new things. Though this might not lead to immediate results.
I also finally fixed this >>8372 >>8373 - In the configuration, the export chord tolerance (in mm) needs to be the same than chord tolerance (in percentage) which is also shown in mm.
>>10292 Ahh, good detective work.
>>10291 >I worked a bit on the chest, to put in spaces for ribs in another material and was also starting to work on a long term project of building the bones of a hand out of layers, which could then be PCBs (electronics) with sensors, plastics for the form and metal parts for strength. I've thought often about the field of Neuromorphic computing, specifically as it relates to designing/engineering robowaifus. Using structural and other ancillary parts embedded with sensors, batteries, microcontrollers, wiring, electronics parts, etc., right inside the structural and actuator components is not only very bio-mimetic in design essence, it also is very likely to help bring the extreme high-performance characteristics of neuromorphics to the table. For example, embedding temperature sensors directly within the finger bones, and also keeping the robowaifu's self-protection 'sense/react response cycle' to pull away from the heat, say, all 'short-circuited' locally right inside a simplified hand-local electronics/microcontroller/actuator system. This design approach can allow the response times for such a system to be very fast relative to a more traditional, hierarchically-networked command & control mechanisms. Basically, in a somewhat similar way to biologic adrenergic nervous system response mechanisms, you want to push the 'computation' for such a system out to the edges of the physical structure, and not be so dependent with always 'phoning home'' first to the higher-level computation systems of the robowaifu's 'mind'. This latter approach encompasses costly communications and other delays. Not that the signals wouldn't be sent on their way 'back up the chain' though. You definitely want the ability of higher-level control to override lower-level ones when needed. Forging ahead into dangerous environments to protect her master for instance, even when doing so conflicts with the most basic of self-preservation dictums. This round-trip would hopefully be completed within milliseconds (vs. the hopefully microseconds-level desired for pure local response times). My apologies for my probably confusing writing here Anon. This is a complicated topic and it's difficult for me to describe it concisely.
>>10297 As an additional thought on the specific example of HOT! PULL HAND AWAY IMMEDIATELY! example, the control devices could perhaps either open, or reuse, an emergency response communications channel up to further-up actuator systems in the robowaifu's skeletal chain. So for example, the hand-local would attempt to instantly flex fingers back, but then emergency-response channels can be opened to the wrist, elbow, shoulder, and torso actuators, all in a tiered-priority chain, to enable fully pulling the hand entirely away from the danger, same as we ourselves would do accidentally touching a hot iron for instance. Each of these chained-actuators would quickly add their own kinematic dynamic in the movement, and the effect would be propagating and progressive. The idea behind the 'emergency response' is that the higher-level analysis would be bypassed in a first-order response time, simply to quickly save the robowaifu from immediate damage.
>>10298 One additional thing that will need to be solved for this hypothetical situation. As we grow up, our entire physical being develops a kind of physical awareness that let's us intuitively discern where sensations are coming from in our body by mere touch, and usually more or less instantly. Vision and audio, for instance, are not needed to know you've just touched a /comfy/ soft blanket, or a cold ice cube spilled onto the counter. And not only do you recognize immediately these kinds of sensorial cues basically immediately, you also know where (to a first approximation) the touched item of interest is located, relative to your general body position. Again this is all instinctive to us, and happens 'automatically' with little attention needed for most cases to figure these things out. Back to the HOT! emergency response, the robowaifu's system will need some kind of touch location-finder mechanism so she knows instantly where the hot plate is, and which way to yank her hand back out of danger. If this isn't done accurately, she could make a clumsy move in the reaction, and possibly damage herself, you, or something else. Again, this is something we all develop instinctively as we grow up, but for us as designers and engineers we'll have to solve this kind of thing explicitly. I'd guess that a first-approximation approach would be to keep a general sense of all the items in her local body space area's surface normal. This should at the least give her the direction to quickly move out of the contact danger (ie, out along the surface normal of the object and away). This situational-awareness solution needs to account that this 'normal-map' of her environment is dynamic, as both she and the elements in her environment are potentially in motion with respect to each other. This is really quite a remarkable domain to tackle from a systems-engineering perspective. Now that I've been applying myself to consider some of the many things all needed, most other design & engineering endeavors seem rather boring to me now. :^)
>>10299 Also, once you check my digits another thing we might do is develop a sort of 'contact-pad volumetric triangulation' sensor model. The idea is you have many tiny pressure, etc. pads embedded into the robowaifu's 'skin'. Whenever she touched something, and approximation of it's shape (and by implication, it's surface normals) can be quickly simulated in her world model. For example, if 18 different pads on two of her fingertips all register a contact, then based on the kinematic/skeletal/etc body model simulation of her current physical position, then she can 'triangulate' the surface shape of that object at it's contact points with her fingers. Again, all instinctive for us...but for her will need to be explicitly worked out in advance by trial and error during design.
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>>10291 I finally made a Mega account for my designs and testing results: https://mega.nz/folder/nv42EbzT#1MUblavva2UG6DukgD0moA Not that something happens to me and all would be gone. Also, SophieAnon shouldn't be the only one uploading design files. - They are all made in Solvespace for now. - Didn't add some copyright licence for now, because I wasn't able to decide yet. - I didn't add all my tests and failures, the other files are quite messy and I need to look through them first. - The structure of the folders might also change, it all just provisionally. - Didn't add stl files yet, I would first need to open the files and export them. You can do that yourself, but these are just prototypes anyways. - I want to try out more modelling with OpenSCAD, IceSL, Blender and maybe importing stl files into Solvespace as well. STL import is available in some some alpha version, but I didn't test it yet. - I want to try OpenSCAD and IceSL, because organic forms are just to difficult to do in CAD. But also because complex models would have bones which are dependent on each other. Think of the bones in a spine. I want changes applied if I change some part. I think more and more that this is only possible in code. Sculpting and mouse-based CAD might not work. - I also consider paying some professional to make a model of some face from an actress for me. Then, later an anime version of it. There seem to be cheap designers in poor countries offering that (3D/face modelling) as a service. At some point in the future I would like to build a AI generator to do this from photos, but I would need some examples anyways. - I will open my own thread as soon as I have more to show for. For now I call my project "Genera Project", but this might change. I want the project and my specific build (my robowaifu I'll build one day) to have different names.
>>12661 Glad to hear you're beginning archive your work online. I think SophieDev used more than one site in case his work was taken down by snowflake leftists b/c robowaifu wrongthink? Might be a good idea tbh. >For now I call my project "Genera Project" Good luck with Genera Project, Anon.
>>12661 I worked on a simplified model of a spine tonight. Well, one section of it. Kind of had a blockade about what to try next before I got started. Didn't know what I could and should try next. Can't work on the chest because it got to complex for my Raspi to handle, tried to install some Linux distro on my Laptop which gives me troubles. I might soon just install some random distro that works, and use it just for my CAD until I get my PC. I wanted to wait till I can use OpenScad and Blender on my laptop so I can try to design a good spine with that. I don't think I can do it in Solvespace, because it's to complex with parts dependent on each other. Decided eventually not to go for a perfect human-like s-curved spine for now and just try something out. It's supposed to work with twisted string actuators. Though, I don't plan to use them as sole actuators. It's just a incomplete model right now. I didn't add holes for the forward movement yet, because I might use other 'ribs' for that. I also could add them easily if I need to. The pink ball is just like some flexible ball out of plastic I bought for my cat. Maybe the size is good or maybe I have to find something else, for my prototype it will suffice since relation to other body parts won't matter. I also ordered some simple bags for 200 ml of liquid, which I hope to use in experiments for my overall design. I'm thinking of having horizontal layers in the waifu chest, containing bags out of fiber reinforced silicone, which then can be filled with air. Two would be on one layer with at least one normally closed valve in the middle. The valve would be in line with the spine, while the bags would be spread out on each side. This could provide some holding torque without e.g. having some motor providing torque all the time. The side with more air would keep the chest leaning in one direction, while it could also react very fast to high pressure or to some sensor, if the body is being forced to move by experiencing some force against itself (compliance in robotics). I also plan to try to combine this with horizontal layers of plastic sheet moved by magnets which would compress one side of such layer. So if the valve in the middle between two bags is open while the magnet compression on one side snaps, the air should go to the other side, moving the chest very fast (but without much force) to one side. Alternatively some pump might remove the air from the silicone bag on one side, while the air from the other side can't move over or maybe the amount of air is even additionally increased on that side, creating the same effect. Though, this version might be a bit slower, and make more noise. I also might have fixed my printer. Found some part which might belong into it, will need to find out about that and I didn't test it yet. Had no motivation to fix it for a while, because of frustration about the whole thing, so it stood around for a few months.
>>12882 This is very interesting Anon. Any chance you can piece together a render of a fully-assembled group of these into a complete spine? We'd certainly like to see it if you would for us please.
>>12887 I'll order some drone motors and then print it for testing. I have motors, but only one per type. They're very small, I wanted to use them with a cycloidal drive but failed in designing that in Solvespace.
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>>12661 I just made a little test with a part (bottom/back) of the pelvis from >>12878. Not sure if it is taken from a male or female, there's not indicator of it. I didn't do much anyways, just slicing it in a crude way to make it possible to have a look at it and contemplate how it could be designed in some CAD program. It's for parts, two are always (more or less) the same as their mirror. So assuming the parts were simple enough now, designing two parts and then mirroring them would be enough. Related: >>12884
>>12905 *It consists of four parts, two are ...
>>12905 Nice work Anon. I think some degree of intentional biomimetics will be a key to success for us here.
>>12882 I went on working on it a little bit. Experimented with a chamfer to to make the edges less sharp, since the rope would rub there all the time. Making the design separable for printing worked and I added some holes for screws and nuts. However, I didn't print it yet so I can't know if screwing it together will work well, but it could be glued as well.
>>12923 Exciting to see your progress, both on this effort, and especially as a designer. You're becoming quite skilled at your work, Anon. Keep it up!
>>12926 >becoming quite skilled at your work Thanks, but it mostly isn't really difficult. Till it is. So far I failed in transfering Levi Janssen's approach to create good cycloidal disks to Solvespace. Yesterday, I also looked into how thick we can make a femure (upper leg) bone and how many LTO batteries could fit into each. It's also just a sketchy model so far. Six is the number I came up with, for now. Which gives us 10Ah with 14V or 20Ah with 28V. I guesstimate that three might fit into the lower leg bones.
>>12935 > guesstimate that three might fit into the lower leg bones. It's good thinking to distribute things around and utilize any available, latent, volumes. However, batteries and other massive (in the physics sense) items bring some additional caveats to the table for us as well. The concept of ' Thrown Weight ' (as used in race-car and other forms of dynamical-systems engineering) is something that directly affects our robowaifu engineering too. To wit; we need to keep as much of the mass centered around the pelvis volume as is feasible, and to not put it out in the extremities (head, limbs, hands, feet, etc) to the degree at all feasible. The further out from the center-of-gravity the mass goes, the exponentially worse the effect is in terms of kinematic and energy consumption, etc., penalties becomes. As you seem well-aware already, keeping the robowaifu's overall mass itself down is an important consideration in many ways. In like fashion, keeping the thrown-weight down is also very important to us. I'd suggest at the least not putting any batteries out past the elbows or knees to help alleviate the issue. Ideally, they would all go right into the pelvis/hip area.
>>12937 Thanks for your input, but please stop repeating that same standard text over and over again. I've read it 10 times already. I'm ignoring your conclusions on this topic anyways, because it doesn't work for me. Thank you. There's no way I'll put everything into the chest. First of all, when I'll lift her legs while she's lying they can't be to light. Then there's not enough space in the chest, especially not in a soft doll-like body. Also, she doesn't need to walk for miles. Five or ten minutes max is sufficient. While doing so, she mostly needs to lift her feet 1-2 cm of the ground. Last but not least, it would only matter if the downside for putting more batteries into her would be higher than to leave them out. Which most likely won't be the case if she's sitting, standing or lying down most of the time. I don't know how to calculate this but 20Ah aren't nothing. So her weight will be 30-40 kg, I guess. If it's less and I like it, then fine, if I won't like it I might even put more water into her internal tanks. On purpose, to make her heavier. I'm not MeidoDev >>11446, he's going for ultralight. Tbh, I might not do that thing with the additional water, but try to put more batteries, dielectric fluid or bigger motors into her design.
>>12949 lol. sorry, but you won't badger me by such talk. we're not women here on /robowaifu/. disprove my position with physics if you're so set against my point. I've encountered and proven sufficiently well the issue numerous times with racing designs. it's simple lever mechanics: take a 1m long stick and and 1kg weight. Perform two experiments with said setup: 1. Pivot the lever with the weight attached to it down right at the pivot point. 2. Pivot the lever with the weight attached to it out at the end of the lever. What else do I need say? That's the 'thrown-weight' issue in a nutshell. Exerting unnecessary energy through poor designs will be detrimental to a robowaifu in every way. Extra energy consumption, extra heat production, extra mass added to joints, connectors, fasteners, etc., to deal with the extra forces needed. Awkward motions in the kinematics. Slow motions in the kinematics. Costs go up in every area, financially and otherwise. Keep mass inboard, and you'll improve basically every area of your designs.
>>12952 >disprove my position with physics I didn't attack your arguments fundamentals based in physics. It's about repeating it at every opportunity again. I don't build a robot optimized for walking. Context, priorities and constraints matter. Feel free to build one without the batteries in the legs, and make them as light as empty bottles. But I wont.
>>12935 Here're my early and crude prototypes for the femure (upper leg bone) so far. The challenge is to make the part as huge as possible to hold as many batteries or other things (maybe motors), but make it so that the bone can't be felt from the outside and also leave space for soft tissue, the muscle movement and muscle mimicry on the outside. Currently I'm assuming that 9x9 or better 8x8 cm femure bone diameter might be the maximum, and that only in a rather tall or thick robowaifu. Transitional elements between parts with different sizes are still difficult to me to do in Solvespace, but here it wouldn't be visible anyways and it's just me trying something out anyways. Maybe such parts need to be sculpted in something like Blender and then imported. Also, blue was maybe a bad choice for the sample, looks rather sick. The smaller holes in the first part are also just an example. Those might be used for steel rods or these hollow metal tubes similar to broom sticks, to make the thing more resilient against shocks. But could also hold cables or water tubes/hoses, or guide some strings, though I think except of the cables these things would rater go into the soft part outside the bone. What's also missing in that model so far, are the heat exchangers for watercooling the batteries, which would need connectors to the water hoses inside or outside the bones. Later I will also need to think about how to transfer water from one part of the body to another, since all hoses tend to break when being bend very often.
>>12954 This is a nice design Anon. Looks like it would have a good strength-to-weight ratio too. Please keep going with it!
>>13091 Thanks, I will keep going but have various things to do. My motors for testing the spine also seem to be already in the country. I see often videos on problems with backlog in logistics but I'm still getting my stiff surprisingly fast.

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