Motor module prototype is ready!

A project log for Wolfie

The second version of quadrupedal robot based on custom brushless actuators

Peter WasilewskiPeter Wasilewski 11/07/2020 at 09:220 Comments


I finally managed to mill all the parts of the motor module I showed you in the earlier log. The material used is PA6 2017 T4511 aluminum bought at my local materials shop. Its great for milling, no clogged endmills etc, and at the same time it has great mechanical properties. I purchased it in 70mm cylinder slices, which were cut on a band-saw. Afterwards I faced each slice and mounted it to the table using screws. Machining of the module took me about 5-6 days, considering I machined one part a day. The amount of time the endmill was cutting the material was actually really short - the most time was spent on preparing the gcodes and making adjustments or fixing the material to the table. Only one part required probing, but it turned out really well. If you want to read more detailed description: 

Right now I'm improving the motor controller's code and making FDCAN communication to work (the bootloader is now functional)