/robowaifu/ - DIY Robot Wives

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Actuators For Waifu Movement Part 2 Waifu Boogaloo Kiwi 09/02/2021 (Thu) 05:30:48 No.12810
(Original thread >>406) Kiwi back from the dead with a thread for the discussion of actuators that move your waifu! Part Two! Let's start with a quick refresher! 1. DC motors, these use a rotating magnetic field created through commutation to rotate a rotor! They're one of the cheapest options and are 30 to 70 percent efficient usually. The bigger they are, the more efficient they tend to be. 2. Brushless motors, these use a controller to induce a rotating magnetic field by turning electromagnets on and off in a sequence. They trend 60 to 95 percent efficiency 3. AC motors, Though there are many different type, they function similarly to brushless motors, they simply rely on the AC electricity to turn their electromagnets on and off to generate their field. Anywhere from 15 to 95 percent efficiency. 4. Stepper motors, brushless motors with ferrous teeth to focus magnetic flux. This allows for incredible control at the cost of greater mass and lower torque at higher speeds. Usually 50 to 80 percent efficient but, this depends on control algorithm/speed/and quality of the stepper. 5. Coiled Nylon Actuators! These things have an efficiency rating so low it's best to just say they aren't efficient. What they are though is dirt cheap and easy as heck to make! Don't even think about them, I did and it was awful. 6. Hydraulics! These rely on the distribution of pressure in a working liquid to move things like pistons. Though popular in large scale industry, their ability to be used in waifu's has yet to be proven. (Boston Dynamics Atlas runs on hydraulics but, it's a power guzzler and heavy) 7. Pneumatics, hydraulics lighter sister! This time the fluid is air! This has the advantage in weight. They aren't capable of the same power loads hydraulics are but, who wants their waifu to bench press a car? 8. Wax motors, hydraulic systems where the working fluid is expanding melted parafin wax! Cheap, low power, efficient, and produce incredible torque! Too bad they're slow and hard to control. 9. Explosion! Yes, you can move things through explosions! Gas engines work through explosions! Artificial muscles can be made by exploding a hydrogen and oxygen mixture in a piston, then using hydrolysis to turn the water back into hydrogen and oxygen. None of this is efficient or practical but, it's vital we keep our minds open. Though there are more actuators, most are derivatives or use these examples to work. Things like pulleys need an actuator to move them. Now, let's share, learn, and get our waifu moving! >--- < add'l, related links from Anon: >Soft muscles with origami-inspired skeletons: https://youtu.be/OJO4FP0DXgQ >Cavatappi artificial muscles: https://youtu.be/yXAJGH5s4cs https://youtu.be/MpCFumHFZvU https://www.designnews.com/automation/cavatappi-robot-muscles-have-5-times-strength-human-muscles >Nameless nanofiber muscle, probably Cavatappi: https://youtu.be/H19p43NFqp4 >Supercoiled polymer (SPC) muscles: https://youtu.be/QHiTJ_zgGME https://youtu.be/N4VMoYFrusg https://youtu.be/hFuzQ4ed-t0 https://youtu.be/2GXWIozM4oQ (bundled/braided) >TCP (the same?) https://youtu.be/S4-3_DnKE9E https://youtu.be/wltLEzQnznM >Twisted string actuators (TSA) <I had the idea that they should in some cases be build with a loop. Grippers would hold a part of it and twist that. For fast release they coul let it go and grab the next part of the loop. Designing the gripper will be a bit of a challenge, though. But I think this is doable. Can't image I'm the first having that idea. <Not sure if this here >>12589 is already something like it bc I didn't understand it. <Here's some passive returning mechanism, followed by other videos on TSAs: https://youtu.be/J26y1nn7JMM https://youtu.be/QBQMZsSQJQM (freaking loud) Effect of bending: https://youtu.be/zYrHGMiqC9A Life cycle test setup: https://youtu.be/PABVsuV7Y1M Frequency response ( I don't get it): https://youtu.be/YLWsh1P80Dc Mixed with fluid/gel tube: https://youtu.be/tP9B3aqc4CI Transmission ratio and speed switch: https://youtu.be/Y1uceDzhjKY https://youtu.be/5PtXTI1t3Po <I don't like it being used for fingers but it's a good technology. >Nylon fishing line muscles: https://youtu.be/Za0VeU9Ov7A https://youtu.be/2OuRX65xbKE <(Reminder: The do have a high life span >1M) <I plan to rather use water for heating and cooling. >Continuous ransmission (CVT) / torque converters https://youtu.be/kVPjhmTThPo https://youtu.be/cd2-vsTzd9E https://youtu.be/c9e2y-5DMNc https://youtu.be/PEq5_b4LWNY >Twisted string series elastic actuator (TsSEA) <This strikes me as particular interesting. https://youtu.be/VBXykAIBKtA >Printed pneumatics https://youtu.be/_X0rDW6NQ58 >Using sugar as soluble support material for printing silicone muscles: https://youtu.be/L0Z0-y3qpNk >=== -add add'l links
Edited last time by Chobitsu on 09/06/2021 (Mon) 10:07:57.
>>12810 Welcome back Kiwi, good to see you found us again.
>>12810 >Stepper motors, brushless motors with ferrous teeth to focus magnetic flux. Neat I had no idea that's how they worked. I figured it was some kind of gears tbh.
>>12810 >Artificial muscles can be made by exploding a hydrogen and oxygen mixture in a piston, then using hydrolysis to turn the water back into hydrogen and oxygen. could we miniaturize this and make artificial muscle cells? granted they'd be larger than actual cells but what if we could mass print them each the size of a grain of rice? Just a thought, as 3d printing increases precision and resolution there's no reason we could not fabricate some pretty interesting structures on the micro-scale
Great, so my comment >>12813 was the last in the old thread: >Cavatappi artificial muscles >Supercoiled polymer (SPC) muscles / TCP >Twisted string actuators (TSA) >Nylon fishing line muscles >Continuous ransmission (CVT) / torque converters >Mechanical multiplexer >3D printed pneumatics >>12810 >5. Coiled Nylon Actuators! These things have an efficiency rating so low it's best to just say they aren't efficient. What they are though is dirt cheap and easy as heck to make! Don't even think about them, I did and it was awful. I guess you mean by heating them from a battery source, but not with hot water which is already there.
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>>12815 >but what if we could mass print them each the size of a grain of rice? Just a thought Actually, that's not too far-fetched Anon. It's certainly tracking the trend of miniaturization in technology and machining. It would certainly be a breakthrough, as you suggest. One of the most important men in the history of computing (and certainly to us here) is Carver Mead. During a talk he gave to EE students at Cal Tech where he (still !) teaches, he pointed out the proper place of vacuum tubes in the historical march of chip technology to the MOSFETs of the modern era. During the close of the talk he briefly evaluated future directions. One of those were micro-vacuum tubes, which are actually being produced on micron scales now there at the school. >also: >no cute anime catgrils in OP's pics <let us correct this oversight
(related x-post) >>12736 >adaptive motion smoothing
>>12819 Yes another anon recommended "There's Plenty of Room at the Bottom" by Richard Feynman . I should dig into that this weekend
>>12816 Ths video explores TSAs (Twisted String Actuators) for exoskeletons, which might give indications to how it could be used in a artificial body: https://youtu.be/lf4qPyHNzQk --write-sub TSA-powered glove: https://youtu.be/ZdsFULAslV4 --write-sub
>>12858 Neat! Thanks Anon I saw this pdf streaming by on BUMP's terminal window and stopped to have a look. Cool AF, and kind of addresses indirectly some of the topics I'm working through for pulley placements in windlass-based thigh motions under load.
>>12864 I suppose I could be more explicit exactly what I'm talking about. >
Adding another actuator which I think has great promise from the last thread. Hydraulically amplified self-healing electrostatic actuators with muscle-like performance https://www.science.org/doi/abs/10.1126/science.aao6139 Also called "Dielectric Elastomers" Links to explanations and other links >>10620 >>10639 Rough calculation on cost, forces needed and the number of muscles needed for full human mimicry.(the micro-controller cost might be less) >>12014 Rough equivalence to the force Tesla gets out of their cars to human actual forces >>12140 Rough cost budget of actual existing transistor and micro-controller parts to get full human mimicry >>12172
One I believe of high importance, switched reluctance motors https://www.controleng.com/articles/resurgence-for-sr-motors-drives/ One last one https://en.wikipedia.org/wiki/Piezoelectric_motor The piezo are very fast and powerful. They are used in pick and place machines for electronics parts at high rates of speed. The problem with piezo is high voltages. I think some of the actuator strategies used for piezo at the link could be used with solenoids or other magnetic type devices and it would make for low cost actuators.
>>12929 >Dielectric elastomer actuators are electrically powered muscle mimetics that offer high actuation strain and high efficiency but are limited by failure caused by high electric fields and aging. Acome et al. used a liquid dielectric, rather than an elastomeric polymer, to solve a problem of catastrophic failure in dielectric elastomer actuators. The dielectric's liquid nature allowed it to self-heal—something that would not be possible with a solid dielectric. The approach allowed the authors to exploit electrostatic and hydraulic forces to achieve muscle-like contractions in a powerful but delicate gripper. This is exactly what we need
>>12930 >The problem with piezo is high voltages Not sure, there are these voltage boosters. Might lead to loss of efficiency, though. I have piezo on the radar since I read about Festo using them. I was mainly thinking of valves for air and water, which might last longer than magnetic ones. Also for small actuators. Since this doesn't need much energy int the first place, the loss for boosting up the voltage might not be a problem. >>12932 >dielectric liquid >This is exactly what we need Yes. I agree.
>>12929 >Also called "Dielectric Elastomers" >related crosspost (>>6563)
>>12936 >Not sure, there are these voltage boosters. I had to think about that for a minute then I remembered that there is such a thing as a voltage transformer made of piezos. Is that what you are referring to? I think they would be different from ones made for transducers, motors, etc. Did you know you can make piezos out of PVC. Like the water pipe stuff? You heat it up, apply a high voltage field across it then cool it down while keeping the field on til it cools. For a short while they were making speakers out of it. I screwed around and didn't get any to play with and now I don't think they are around any more. Piezos are really wondrous. A solid state thing you can put voltage on and they move. The problem is they are pain in the ass. They don't move far and it takes high voltage. To get a lot of movement you have to complicate them with levers and...they just suck to do real stuff with but..they are very cool. I think the Japanese putting them in cameras was in reality just a "look at the cool techno-wizardry we can do" move. Succumbing to techno lust is a real thing and needs to be avoided. Some super complex wizard crap that is so difficult to get to work it becomes THE reason you work on something instead of what you were trying to build in the first place. Don't ask how I know about this.
I just now had an epiphany. What we need for a rough prototype is something that has fast movement when it's not under load but some strength when it's under load. Much like a regular human muscle. Well I was thinking about strings and came up with this. I really like this. Cheap and not too complicated. Now this is just a drawing. It's certainly not fleshed out. There would have to be some thinking done to make it work. You have motor with a cone shaped pulley on top of it. The string wraps around the cone. When you turn on the motor the string is pulled goes through a ring(purple) through a pulley(white) around and then up to the end of the limb. The purple ring acts just like the ring on a fishing pole that turns the string on a fishing pole. Now let's say the limb has little resistance to it moving then the motor winds the string up on the large part of the cone because the spring has pulled it down. High speed, low force. If the limb gets resistance the pulley and the ring that guides the string stretches the spring, pulling the sled the pulley and ring are mounted on up. This in turn means the ring that guides the string is now farther up the cone to a smaller section. The motor turning the same speed is now taking up much less string for every revolution. Higher torque but less speed. The pulley and ring are mounted on a sled of sorts that has a guide way so it can only go up and down the (red) slot. You could adjust the force by picking the right cone size, length and the spring force.
You could get some accurate movement with the spring cone auto trans if you had opposing muscles and ran it with pulse width modulation. So you run one muscle one way and the other the other way both with high force but one of them a little bit less. So you are holding the limb tight but moving slowly depending on the opposing difference in force.
>>12941 I used to own a Yamaha CVT (Continuously-Variable Transmission) Scooter. It was only 149cc, but I could regularly get it to 60mph on a flat highway. The neat thing was it would just pull through the powerband then entire way until it reached maximum speed: no shifting or drop-offs. I became interested to figure out how Yamaha did it, and found out it was a heavy-duty rubber conical cylinder that a transfer wheel would back and forth across the surface of transferring that engine power into the driveshaft. Thus the 'continuously-variable' bit. A working geometric expression of integral calculus! I say all that to say that the motor/cone part of your diagram reminds me very directly of the transmission on my scooter. You might look into it Anon.
Since the string would be tied to the cone you wouldn't have to worry about slippage like belts in CVT's.
>>12944 I suppose some forms of the idea use belts, but not my scooter. It was a direct-drive rubber takeup wheel that would ride firmly against the rubber drive cone. The takeup is run along different 'sections' of the cone depending on the drive conditions, which would vary the torque accordingly just like in your idea AFAICT. Anyway, belt-or-not isn't the question, it's "can we use this idea inexpensively to our advantage in creating robowaifus?" I'm betting we can.
>>12940 >>Did you know you can make piezos out of PVC. Like the water pipe stuff? You heat it up, ... Aarrgh!!1! DO NOT HEAT UP PVC. >>5106 >>9043
>>12940 >>voltage transformer made of piezos I mean the regular electronics ones. Boost converters is another name for those, wich can be buyed as a board, or build: https://youtu.be/QnUhjnbZ0T8 --write-sub https://youtu.be/hDZsBeYbDa4 --write-sub (Just in case, if anyone tries to get the inductor the same way, don't damage the lightbulb bc mercury) Btw, we don't need to build everything from the scratch. It's good to be able to, but doing so might also complicate things. If you want too make even the chrystals yourself: https://youtu.be/IGbVGKJldd8 >>12941 >cone gear or cone torque converter Interesting, but I would like to see an experiment based on it. Also, space might be an issue.
>>12947 >Aarrgh!!1! DO NOT HEAT UP PVC. I hate to be so blunt but the fact is you have no idea what you are talking about at all. Plumbers, electricians bend PVC by heating it up all the time.Here's a search for PVC heater bender. https://duckduckgo.com/?q=pvc+heater+bender&t=ffcm&ia=web They make a tool just for this.
>>12948 >Boost converters is another name for those, wich can be buyed as a board, or build I see thirty of them here for $20 https://www.banggood.com/30pcs-DC-2V-24V-To-5V-28V-2A-Step-Up-Boost-Converter-Power-Supply-Module-Adjustable-Regulator-Board-p-1614240.html?cur_warehouse=CN&rmmds=search but...what will you drive with them? If it's a motor then you have to make a bigger motor which cost big time. Also these little cheap things I don't think are going to drive piezos which to really drive them require much higher voltage. I'm not trying to be totally negative. I just don't think this will work out. If you look back at what I've posted a lot of it really won't work or will be so tedious that it will be too much of a pain but I throw ideas out there anyways.
>>12983 Doesn't mean it's healthy, especially if you want to do it on abigger scale. >>12984 The topic wasn't motors but dielectric muscles and small piezoelectric valves or such. My point was, that these boosters exist and some might work. One goes up to 500V from 3V.
>>12987 >The topic wasn't motors but dielectric muscles Ok I didn't see that. It wasn't clear to me.
>>12988 >dielectric muscles and small piezoelectric valves Okay, no problem. Maybe I should have quoted better. I think high voltages could only be used for small moving parts anyways. Bigger motors or muscles would need more ampere, and I don't want to get a shock touching my girlfriend. Or think her of holding a baby...
>>12810 I will model that madokami mecha
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I feel like we're overcomplicating things. We should be thinking of this as a simple physics problem: What method gives the best power-to-weight ratio for a simple bicep curl? A 20 inch long blocks split half-way down the middle by a single hinge, pointing straight down with the upper "arm" fixed and a weight attached to the "forearm" and made to curl that weight 180° up using only electricity. The more torque out compared to weight of the arm of that length using an input of X watts DC for Y seconds is the winner. (I'm not sure how many watts or long would be considered reasonable for the experiment) Finding out the most energy efficient way to do this is the key to making knees, elbows, fingers, and probably any other joint we'd need. Because most robots would run on batteries instead of wall outlets, the weight of any inverters would have to be included as part of the arm, because even if it weren't really in the arm, you'd still have the weight in her somewhere. This will likely also make hydraulics and pneumatics impractical even if it were more practical with more limbs. I know this might seem like an oversimplification, but it seems like something that can actually be made into class experiments or a challenge just about anyone could compete in. And I didn't really know how to explain the rule, but no "C-3PO arms", so the blocks have to rest flat against each other, not having a linear motor or cables connecting the bicep to the forearm. If it were a leg that'd be like the back of the thigh connected to a calf, which would get in the way of sitting in a chair. It's not something you could easily hide inside of a human body or clothes and would really get in the way if they were used in prosthetic limbs.
>>13178 Mind explaining that a bit more in-depth Anon? >>13180 >because even if it weren't really in the arm, you'd still have the weight in her somewhere. True. That's one of the challenges a good engineer has to account for, and why the thrown-weight issue is pertinent in any wildly dynamical systems like a robowaifu with all it's limbs and lifelike motions. The Boston Dynamics robot 'dog' Spot is a great example of the design outcome necessary for success at this. All the actuators, batteries, inverters, etc., are kept inboard inside the robot's chassis, and the limbs themselves are kept as simple, rigid, and lightweight as possible. IMO we'll need to attempt something similar to Spot here if we're to succeed at this.
>>13203 The short version: I will literally model and break each and every part of that design down so it can be 3D printed into a model kit as a prototype design. Madokami and all. Now for the long version: I would use existing model kits like megami devices as a reference for part size but start from scratch with the techniques and workflow Ive been practicing since I first showed off a rough draft of Allie. Though that is only the shell of the design. modeling the insides of the thruster equipment would be where the real engineering occurs and would have to use rocket designs for that. schematics for reference. This isnt a sci fi board and i know its a gundam inspired drawing, but I wonder if magnets could be used in the wings to hold up the robo waifu in the air. since magnets that powerful do exist and those wings seem very flimsy with too many bendable parts. I have also 3D printed miniatures using small magnets for the joints before and that works perfectly. Though at the moment the only real problem is that you need another magnet underneath the model or it falls.
>>13205 Excellent. Well I'd say to have at it then Anon! Work hard and I'm sure you'll succeed. >This isnt a sci fi board... We actually had a few similar topics come up when trying to help Fairybot-Anon devise approaches for his literal-flying-mini-robowaifu from years ago. Personally, I consider the fact that drones are so widespread, that IRL flying-fairybot robowaifus will be inevitable eventually.
>>13203 >All the actuators, batteries, inverters, etc., are kept inboard inside the robot's chassis, and the limbs themselves are kept as simple, rigid, and lightweight as possible. I think the automotive term for this is "unsprung mass" >IMO we'll need to attempt something similar to Spot here if we're to succeed at this. I don't really think so. I don't think you can outperform them by aping them. We can't just assume that's the best way to do it just because it's the way the professionals are doing it. My life experience has been that the professionals don't always know best, but people rarely question them because they think there's that significant of a knowledge gap that might not really exist. This YouTube video refers to it as the "Smarter Monkey Fallacy" https://youtu.be/wkiL3Q7cq7A his videos are great even if his presentation is crap. The purpose of simplifying the idea to just bending a lever to lift a weight is so we can get a hundred monkeys at a hundred typewriters trying to solve the problem and anyone could provide a simple solution virtually nobody's thought of yet.
>>13210 >I think the automotive term for this is "unsprung mass" Indeed it is. Thrown-weight is a mechanic's term, which I am.
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>>13205 You model her, I'll print her. Honestly, it would be nice if we could work together. I've always wanted to work on a waifu with another Anon. Please make a thread for her, I would be happy to make one for us if you'd like to work together. I'm not good at modelling exteriors but, I am a robotics engineer.
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>>13180 >no "C-3PO arms", so the blocks have to rest flat against each other, not having a linear motor or cables connecting the bicep to the forearm I'm not buying that. It's not like normal arms work See here
>>13226 A normal, healthy-weight person can bend their leg to a squat where their heels to touch their ass, and can sit upright in a chair with their knees bent 90° and have the back of the knees touching the seat, instead of having a cable extending somewhere from the calf to the ass getting in between the knee and seat. It's better to have that range of motion available for all joints and not need it, than to need it and not have it.
>>13180 >>I feel like we're overcomplicating things. We should be thinking of this as a simple physics problem: What method gives the best power-to-weight ratio for a simple bicep curl? I can't imagine we can get any cheaper type motor that a switched reluctance motor. It's a couple coils and metal rotors. The only thing I can see as better is "Dielectric Elastomers" >>12929 Regular motors are really expensive. All of them cost more than switched reluctance BUT it's not like you can buy switched reluctance motors all over the place because they need micro=controllers and MOSFETs or transistors to drive them. The cost of these has plummeted so to get the exact precise control we need we will need micro-controllers anyways. What do we need for power to run these things? Notice that a average human can only produce about 200 Watts or so of power over a good bit of time with world class athletes at about 400 watts but you can get much higher brief spurts. Power = Force * Distance/Time Where: Power is measured in watt. Force is measured in Newton. Distance is measured in meter. Time is measured in seconds. 1 lbs force = 4.44822162 newtons We'll use 200lbs. force so someone can be picked up 200lb. = 889.64 newtons Call the arm 0.5 meter Time call it a second Power = Force * Distance/Time So 889.64 newtons*0.5meter/1= 444.82watts Now you can easily get a MOSFET that can be driven with 40volts and that gives us 11.12 Amps @ 40 volts. You can get MOSFET's that will do this for $0.50 USD all day long. You need two if you are running a switched reluctance motor and the micro-computer to drive 18 of these you can get for less than $10 USD. Link on force https://www.thecalculator.co/others/Horsepower-Calculator-490.html Link of force humans need to lift stuff. It's much less than the high 200lb. weight I used. https://www.quora.com/How-much-strength-would-you-need-to-lift-a-human-in-the-air?share=1 There's a problem here. 11 Amps is a lot. It takes a #12 wire to carry 20 amps. It takes a #18 AWG to carry 10 amps. https://i.stack.imgur.com/QqXFg.png You could probably cut that in half because it's going to be intermittent and the current carrying capacity depends on the wire heating up which it won't if this power is in brief spurts. So maybe you could use #22 gauge. Lot cheaper. So here's something cheap and a little bigger . "100-ft 20/2 Twisted Doorbell Wire (By-the-Roll)" https://mobileimages.lowes.com/product/converted/032886/032886856167.jpg Stranded would probably be better but not hard to find.
>>13205 >I will literally model and break each and every part of that design down so it can be 3D printed into a model kit as a prototype design. Madokami and all. NICE!
>>13229 >"Dielectric Elastomers" The problem with these is they are new and it's not like you can go out and buy one you have to make them. Of course the advantage of these is exactly the same. You can make them yourself and don't have to go out and buy them.
>>13231 >"Dielectric Elastomers" I forgot to add no one really knows how long these will last or how well they will do. "IF" they work then long term there really seems to be nothing so satisfactory as these for muscles. They seem perfectly ideal in all ways.
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>>13229 Maybe I should repost this in the Meta Thread, because nobody seems to understand what I'm saying. The whole point of the idea was to get people to actually test to prove it and compete to create the most efficient arm, instead of just sitting around discussing and debating methods of actually testing it. Just saying to use a switched reluctance motor and showing a bunch of energy math doesn't really mean anything if you don't even explain where and how the motor is mounted to make the arm move.
>>13236 Where can we get these? I would assume that a smaller scale piston design hidden by some casing might be more efficient but requiring the wiring for sensors like construction vehicles. Diggers specifically. As for the power source, the goal I believe was to make a recharable robowaifu, so either using rechargable drone tier batteries, or some kind of solar power would probably work. Since it probably takes far less energy to grasp an apple than to create lift and maintain flight for prolonged periods of time.
>>12409 In this comment earlier I figured the force directly from pound force, used it to get newtons with an online unit converter. Newtons can be directly substituted for watts. I wasn't sure if this was correct but now using the other formula >>13229 I see the calculations come out the same so it's a good short cut to finding the amps needed at a certain voltage. pound force>convert to newtons>use amount in newtons to directly substitute for number of watts need for force
>>13236 >nobody seems to understand what I'm saying. Your right. You asked what's the best power to weight ratio, what length and how many watts needed. So... There's also a lot of links further up that go to the last thread before this one that go over all this. >The whole point of the idea was to get people to actually test to prove it and compete to create the most efficient arm, instead of just sitting around discussing and debating methods of actually testing it. If you build stuff and have no idea at all what forces are involved, no idea what power(watts) is needed then you are going to do a shit load of work that is not necessary when you could spend 10 minutes getting a ball park figure on what you need. Every time you change any of the weights, forces, etc. you need different wires, strength limbs, etc.. >Just saying to use a switched reluctance motor and showing a bunch of energy math doesn't really mean anything if you don't even explain where and how the motor is mounted to make the arm move. Picture of arm from above. >>13226 Maybe you missed it, The calculations are what you asked for. As for efficiency there's a mass, a ton, a whole lot of literature on what efficiency you can get from different type motors, hydraulics, air pneumatics, etc. It's pointless to just start randomly building stuff without at least using the stuff that people have spent thousands of hours working on the facts of how they work and what the advantages and disadvantages of them are. So no I don't know what you are asking for. The stuff you explicitly asked for a lot of it was given. Even a picture of a normal arms attachments as an idea.
>>13216 Well I also have a 3D printer, anon. If you want to start a thread then go ahead. Getting through the superficial diversity hire barriers in HR has been the only thing stopping me from getting into the field myself.
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>>13257 >Your right. You asked what's the best power to weight ratio, what length and how many watts needed. So... I wasn't asking a question, as much as I was proposing standards for an experiment for people to do. I am terrible at writing and explaining things. I should have put the end of the post first: "it seems like something that can actually be made into class experiments or a challenge just about anyone could compete in." That's the point of what I said. Getting people to build and test out a different methods of flexing a single standardized limb, instead of just posting our thoughts here about what's the best way to do it. I guess what I'm trying to propose is a simple community-driven challenge/experiment where we actually try to outperform each other instead of just a bunch of ideas on paper. I wanted to make as many constants as possible to keep the math simple, both so more people will be able to compete and so you don't end up with limbs that are only more efficient because of the scale, and such. I said 20 inches because that was the first thing to come to mind and I couldn't think of any constants for time or wattage, so I just used X & Y. I'd love to hear some better suggestions.
>>13277 > I was proposing standards for an experiment for people to do. I am terrible at writing and explaining things. I should have put the end of the post first: "it seems like something that can actually be made into class experiments or a challenge just about anyone could compete in." That's the point of what I said. Getting people to build and test out a different methods of flexing a single standardized limb, instead of just posting our thoughts here about what's the best way to do it. Ok, you lay out some standards, show a design to test and then build it, "...instead of just posting our thoughts here about what's the best way to do it...". You first. Show us.
How to double the power of magnets with a Hallback Array: https://youtu.be/uQWHjj6ofwo
>>13236 You're right. Building something is better than dreaming up technology. However, there's not gonna be one answer and best method. Whatever, I'm going to work on some arm soon.
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While working on OSRM, I've come to realize that DC cored motors inefficiency is a problem but brushless are too expensive. Coreless motors are where it's at. They're efficient like brushless but cheaper and don't need special controllers that increase costs.
>>13285 >You first. Show us. I will. Sometime between that post and now, I've found I'm going to get fired for not taking the vax. Also I've been working nights, which makes it hard to get anything done without noise complaints. There's also the fact that I know as soon as I post it I'm going to be met with replies about ways to change the experiment. I've already had one comment about how a 180° bend isn't necessary, but expect asking for a standard material and how thick or wide the arm should be, then eventually devolve into why I used an imperial measurement when we should use metric, etc. I expected a major backlash against the idea by people who prefer to just sit around thinking and talking, will find any way they can to ruin this. >>13313 >However, there's not gonna be one answer and best method It's just a general-purpose limb, mostly for bending at the elbow and knee. Scaling down to the fingers probably won't work and it won't be good for flexing face muscles or anything like that, but the application largely depends on what the leading design is. There's not gonna be one answer and best method regardless if the experiment is done or not, so why not do it anyway? It's application isn't just limited to waifubots either.
>>13318 >>I've found I'm going to get fired for not taking the vax That's really sucks. F the vax, F the people trying to force it on people and F the people who engineered corona. What ever you do don't quit. They will try to make you quit. Don't do it. That way they will have no liability. They will really try hard to do this. Watch you'll see. It may very well be that they will some day have to pay you for firing you. Force them to fire you. Of topic but we now have many serious test that show Ivermectin knocks out corona. We even have a whole country of billions, India, that has shown that corona can be stopped fast and eliminated. If they want to stop corona it's as easy as giving everyone Ivermectin, vit. D, and vit. C and corona is done in a few months for a couple dollars per person.
>>13322 >Force them to fire you. That was the plan, if only so it makes it easier to get unemployment if I can't get a new job soon. But please, let's not turn this thread about actuators into a Covid thread. When I leave the job, I'll switch back to sleeping normal hours, and it'll be easier for me to assemble the little CNC machine I bought but never got around to building. I don't trust my hand-eye coordination enough to do cut things by hand.
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Personal property is protected in US, including porn collections and sex toys. A judge ruled, parents have to pay 45k because they threw out their sons collection: https://youtu.be/Jd9baSizvOw

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