Week of 4/6 - 4/10

This week, I started by changing around the mold that I had previously made, and changed it to better fit the end of the leg. I then printed it out, which came out well, and then I mixed and poured in the resin. I tried to make sure each surface was coated before clamping the pieces together, since I wanted to try and remove any air bubbles that could appear if the silicone wasn't fully distributed.

This ended up still happening, though, as a small bubble appeared in between the air holes, so I doubled the number of air holes in the design for the next parts I need to make. This didn't really end up being too much of an issue, though, so I should be able to reuse the mold to make the next ones. I used superglue to attach it to the foot, and so far it's working really well. It sticks really nicely to the table and gives it some support to stop it from sliding.

I also started to reattach the servos to the servo 2040 and get them working again. The wires are all wrapped up now, though, so I had to test them all and make sure I plugged them in the right way and that they all still work. It took me a bit of troubleshooting, but eventually I got them all attached and working; there were still a couple of issues.

Firstly, pins 1 and 17, as well as 2 and 18, were re-linked, so I had to make sure that the legs connected to them were not right next to each other, as I plan to use a tripod gait, meaning three legs move at a time while the other three keep it stable. This should be fine, but I need to make sure that the legs move in sync.

I also attached the cover I had printed out, or at least half of it, and made sure it fit. It fit well, but the screws were a bit tilted, so they were harder to get in. I got all the wires to fit inside, and I will need to print out the other side eventually, but for now, I just need to wait for the 3d printer to be available.