Ca_bot

This work is not finished, I will work on it when I have some free time :)

CAD

You can view the CAD on OnShape here

TODO

• redo design attach thigh (too much play here)
• remove holes at bottom of legs
• more tolerance body assembly
• check parallelism

Simulation

I used OnShape-to-robot and PyBullet to simulate the robot. Follow the instructions to import the robot from OnShape. Then, you can use the bullet.py (in Ca_bot repo) to perform the simulation. It uses Onshape-to-robot's simulation.py, so you will have to link the imports. For instance, in code/, you can add three symbolic links :

	$ ln -sf <path_to_onshape-to-robot_bullet_dir> bullet
	$ ln -sf <path_to_onshape-to-robot_robots_dir> robots
	$ ln -sf <path_to_onshape-to-robot_simulation.py> simulation.py

Kinematics

You can look at the file maths/inverse_kinematics.pdf for an explaination.

BOM

TODO

STL Files

TODO (list of files, number of files to print etc)

Electronics

TODO

Funny Gifs

Sources utiles

• https://forum.arduino.cc/index.php?topic=597809.0
• https://github.com/rhoban/Maple