R2-IQ: Rolling on three legs

Build Day 34:

Here's the next test of the robot rolling.

I don't want the ankles on the outside legs to bend.  It will only use the 2nd set of wheels when it's in 2-leg mode.

Also, I already changed the third leg, so it looks like it's flat on the ground.



It does a good job of rolling around, until I try to switch back to 2 leg mode, and I don't stop when it gets a bit off balance (one drive wheel off the ground).

I did find a couple weak spots that needed to be tightened!

R2-IQ: New Shoulders

Build Day 33:

Shoulder V3

I started the day with version 3 of the shoulder.  The problem is that it will twist when the legs move back (3 leg mode). In this version, there is a bit less twist, but it was very tough to build the body around it.  I ended up with several "odd" distances, and "even" length pieces, so it would not easily fit.

Many pins in V4

After fighting with it for a while, I decided to create yet another version of the shoulders.

My plan was to make a very solid piece that could not twist.  It would have lots of pins.

Shoulder V4

This version would also be better designed to fit into the skin of the body, creating a more solid structure.

Modified Body to secure shoulders

The top ring in the body had to be rebuilt, to sit on top of the shoulders, and also add support to the rest of the skin/body.

Solid body

Final cut-away, before adding the front skin panel.

Not-so-solid head.  (prototype)

When driving, I sometimes get a little aggressive.  The outside legs currently don't have anything to hold them in place.

During this crash, the body held up pretty well, but the head did not survive.  That's OK, it was still just a prototype.

R2-IQ: New Frame

 Build Day 32:

New Frame ready for install

 I built a new frame to hold the third leg.  On this day, I would destroy the old frame, and mostly take apart the old body to wrap it around the new frame.

Bryan came over to build a better looking leg.  I told him it looks great.  No pictures.

Body with new frame

Crack open the body

Body parts all over the place

R2-IQ: Progress Slowing

Build Day 31:

New frame to work with new wheel

This is where progress really seems to slow down.  Ignoring the fact that it was Thanksgiving (and I did spend time with my family) I don't feel like I got much done.

I built a new center wheel.  It won't fit into the current frame, so I'll have to rebuild that.

The new frame has new, stronger shoulders.

New center wheel assembly

R2-IQ: Broken

Build Day 28:

Bent Axle

Over the weekend, while I was driving R2 around the show, it would turn to the right, but not to the left.  When I would try to turn left, the chain would jump on the gears on the center leg.  I didn't really understand why it worked one direction, but not the other.

Last night I decided to replace the chain with gears, and while rebuilding the wheel, I discovered one of the axles was very bent, causing the wheel to turn poorly.

Hopefully, I'll get the leg rebuilt (new design) and attached, tonight.

R2-IQ: First Show

Build Day 27:

R2-IQ at it's first show

Over the weekend, we attended Brickworld, a large show with lots of cool displays.  R2 spent the time surrounded by lots of LEGO Star Wars items.

Unfortunately, that didn't allow me any time to get any real work done on him.

However, it was a very good indication of how people will react to the droid.  I had several kids want to touch it, and even hug it.

I'm looking forward to making more progress in the coming weeks.

R2-IQ: All coming together

Build Day 23:

Frame & Body, separate

I had a very productive night last night.  I started by rebuilding the shoulders to support all three legs.

With the new shoulders, the legs have a hard-stop at 0 degrees swinging forward (standing on two legs) and at 36 degrees swinging backward (standing on 3 legs)

I tried using magnets to hold the third leg in place, but that didn't work.  It's too heavy.

I had to split the body into four pieces to insert the frame.

1/2 body

Frame with 1/2 body attached

Frame with 3/4 body

Adding last section of body

Body with shoulder(s)

Frame inside body

R2 with head & 2 legs

R2 in 3 leg mode

Playing with color

More color