Hey, this is Nyanyan, long time no see!
I was so busy with making YamaX 5.0 and solving rubik’s cube fast…
What’s YamaX 5.0?
|YamaX 4.2(Former)||YamaX 5.0(Latest)|
|Height||about 350mm||about 300mm|
|Weight||about 1500g||about 1000g|
|Number of Servos||19||19|
|Material||Aluminum(A5052), MDF board, etc||Aluminum(A5052), MDF board, etc|
|Control Unit||Raspberry Pi Zero W(micro controller)
(We will use Raspberry Pi Zero)
Close looks below.
Latest robot, YamaX 5.0 is a little smaller than former one, because the servo(micro2BBMG) is smaller than ones we used before.
Number of Servos
We used 19 servos, nothing have changed.
This time, We used Micro2BBMG, that we first use, and they are used all joints.
Comparing all servos that we used with data and impressions below.
Data are not the exact.
|robots in which they are used||YamaX 1.0(all joints)||YamaX 2.0-3.2(leg)||YamaX 2.0-4.0(arm&head)||YamaX 4.0(leg)||YamaX 5.0(all joints)|
|1.8kgf･cm(4.8V)||Unknown(more than 5kgf･cm?)||5.4kgf･cm(4.8V)|
|Unknown(faster than 0.1sec/deg?)||0.17sec/60deg(4.8V)|
|Voltage(FYI)||4.8-5.0V||4.8-6.6V||4.8-6.0V||Unknown(we used 5.0V)||4.8-6.0V|
|Impression||Small. Light. Cheap. Nylon Gears. Breakable.||Big. Heavy. Cheaper than others. High Torque. Metal Gears.
When used long time, the deterioration of gears and cases brings looseness.
|Small. Light. Metal Gear. Fast.
Breakable when used in 7V or higher.
|Big. Light. Expensive(maybe). So-so Torque. Nylon Gears.
Good precision of gears and cases brings little looseness. Can be used long time.
Used in KHR1, a humanoid robot kit. This is too old to find any data.
|Small. Light. Metal Gear. Expensive. Little looseness. High damping torque.
Bad angle precision, maybe because of the bad sensor.
Servo we used this time, Micro2BBMG, is very bad at degrees control. So I made the program that can do calibration. However, I think substituting degrees sensor is the best.
Now, we are thinking to make YamaX 6.0, which is made with a 3D printer.
Nothing special, but we will use Raspberry Pi Zero to be able to use YamaX 5.0 for DeepL2.
It’s not the main topic. Later. Maybe coord.e will tell you more, but I am telling you now.
This year, we will go not only Tokyo, but also NY!