Mirft

Picture page of Mirft: My insectoid robot of fischertechnik. RETIRED

Scroll to bottom for the latest pictures. On my blog, I weekly tell about my experiments. Videos can be found at my Youtube channel. The videos page has links to my playlists on Youtube as well as event pictures on Flickr.
On this page, the pictures from 5 Feb. 2016 till 20 Apr. 2016 are also links to the respective videos.

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And this is a basic design showing what the walking robot Mirft could look like.

The same design, with a little adaption to keep the legs from going too much astray..

Because of stability problems and mechanical issues, I had to make a complete redesign of the robot. This resulted in a framework with a different suspension of the legs.

Because of a change in the design of the gearing the total design has to be changed: the aluminium parts are being replaced by angle girders so the building blocks can be attached. By this, the robot will be automatically enlarged..

Result: an enlarged robot.

And with some gearing, though not connected to the legs yet. This is quite a challenge...

July 2010: 2nd motor removed, changed motorsetup

July 2010

Expansion with a 2nd motor, changed motorsetup, connection with a paw, and sensors in a testing setup.

July 2010

July 2010 – 2nd series

17 August 2010

24 October 2010: replaced the failure prone axial motor setup to this angular one with a cardan joint.

24 Oktober 2010

28 October 2010: finally added the 3rd (middle) motor; unfortunately I'm out of gear wheels, so no chains or connection to the middle legs yet.

28 Oktober 2010

7 November 2010: due to continuous dislocation of the cardan joints, I decided to put the motors horizontally.

77 November 2010: close-up of the axial new connection

7 November 2010: addition of horizontal-movement motor

7 November 2010: close-up

7 November 2010: another close-up

7 November 2010: second horizontal-movement motor connected to interface-extension module because interface has only space for 4 motors

20 december 2010: new motor setup

20 december 2010: new motor setup (2)

13 March 2011: middle legs gearing changed. All legs are now driven by 1 motor.

other view

sideview

13 March 2011: motor for horizontal movement...still needs work.

27 June 2011: changed gears for horizontal movement.

3 July 2011: Change guidance for horizontal wiring.

3 July 2011: backside hip wheel.

14 July 2011: new construction of gear(1)

14 July 2011: new construction of gear(2)

14 July 2011: total view..kind of

13 March 2011: middle legs gearing changed. All legs are now driven by 1 motor.

other view

sideview

13 March 2011: motor for horizontal movement...still needs work.

27 June 2011: changed gears for horizontal movement.

3 July 2011: Change guidance for horizontal wiring.

3 July 2011: backside hip wheel.

14 July 2011: new construction of gear(1)

14 July 2011: new construction of gear(2)

14 July 2011: total view..kind of

3 August 2011: added joint to the legs

3 August 2011: overview

3 August 2011: Added last chain

27 August 2011: due to main transport axis problem I had to relocate the gearing of the 3rd pair of legs

27 augustus 2011: close-up

23 July 2012: Added lens light

23 July 2012: light sensor

25 July 2012: Burning lens light

25 July 2012: Screenshot: leg sensor value

11 May 2013: new overview

15 Aug 2014: added light sensors

15 Aug 2014: new light source for sensor

15 Aug 2014: directive cap

15 Aug 2014: rewired

15 Aug 2014: rewired: all sensors and sources grouped

17 Jan. 2015: 2nd motor added for vertical movement

21 Jan. 2015: hanging motors changed

25 Jan. 2015: other view on changed hanging

8 May 2015: replaced horizontal motor

8 May 2015: contacts of horizontal motor

8 May 2015: 4th lenslamp added

8 May 2015: details of horizontal gears

21May 2015: addition of a supporting motor

1 June 2015: another attempt to fix the string to the hip wheel

6 June 2015: a possible solution to stabilize the legs.

6 June 2015: different view on the solution.

17 June 2015: fore and middle hips/legs stabilized.

17 June 2015: current overview of the robot.

22 June 2015: Support for the leg.

22 June 2015: Mechanical on/off switches.

22 June: The switches in position.

22 June 2015: The switches in position.

7 Sept 2015: Replaced the rope string by blue nylon: motor end

7 Sept 2015: Replaced the rope string by blue nylon: head end

15 Sept 2015: Clove hitch on a spring cam for better movement

30 Sept 2015: Sonar added to the front

30 Sept 2015: Side view of sonar, interface extension and RoboInterface on top.

15 Oct 2015: Changing the hip hinge ..

15 Oct 2015: New hip hinge mounted into the robot

15 Oct 2015: New hip hinge on other side

15 Oct 2015: Another solution: broaden the leg

15 Oct 2015: Broaden the leg: view on the hinge

30 Oct 2015: More of the stabilized legs

6 Nov 2015: New winch solution

6 Nov 2015: Leg reconstruction

6 Nov 2015: Connected after reconstruction

13 Nov 2015: Continued reconstruction.

20 Nov 2015: 2 chain links taken out.

27 Nov 2015: All legs are modified for broad ones: 1 side.

27 Nov 2015: All legs are modified for broad ones: other side.

2 Dec 2015: Mirft can finally stand on its feet!

11 Dec 2015: The vertical chains are not equally long..

11 Dec 2015: The vertical chains are now the same and equally long..

11 Dec 2015: The top chains are now equally long..

11 Dec 2015: A top chain not long enough..oops

11 Dec 2015: A top chain too long ?..oops

18 Dec 2015: Cobwheel needs to be tightened..

25 Dec 2015: In need for different gear setup

31 Dec 2015: Different solution: supporting rod up front

31 Dec 2015: Different solution: supporting rod in back

31 Dec 2015: Different solution: supporting rod stabelized

31 Dec 2015: Different solution: supporting ros on the floor

8 jan 2016: Different construction for the horizontal motor (1)

8 jan 2016: Different construction for the horizontal motor (2)

8 jan 2016: Different construction for the horizontal motor (3)

8 jan 2016: Yet another construction for the horizontal motor (1)

8 jan 2016: Yet another construction for the horizontal motor (2)

22 Jan 2016: Rubber knob under the to cause some necessary friction with the surface

29 Jan 2016: A wheel contruction...

29 Jan 2016: And another wheel contruction...

5 Feb 2016: A rubber tire added...

5 Feb 2016: Overview

5 Feb 2016: Floortest. Click the image to watch the video.

12 Feb 2016: Rewiring of lamps and transistors and removal of the IO Extension. Click the image to watch the video.

26 Feb 2016: Still from video. Improved algorithm to use the lights for vertical leg movement. See the video

4 Mar. 2016: Reconstructed hip/leg. Click the image to watch the video.

11 Mar. 2016: Reconstructed hip. Click the image to watch the video.

11 Mar. 2016: Reconstructed back winch. Click the image to watch the video.

18 Mar. 2016: Another (failed) floortest. Click the image to watch the video.

25 Mar. 2016: Now what to do? Click the image to watch the video.

1 april 2016: Improved stabilization Click the image to watch the video.

20 april 2016: Final overview (1). Click the image to watch the video.

20 april 2016: Final overview (2). Click the image to watch the video.

20 april 2016: Final overview (3). Click the image to watch the video.

20 april 2016: Final overview (4). Click the image to watch the video.