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Scale 2.2's Discuss your scale trucks that use 2.2" sized tires. TLT based and similar.


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  #1  
Old 02-06-2018, 02:58 AM
raven62 raven62 is offline
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Default Self Leveling Vehicle

Hi,

my name is Ralf, I'm a 56 yo male, living in Germany.

After this little Oil-Field-Truck, a "Foremost Delta 3c" (47" long, 12" wide, 40" max heigth, 88 lbs).....
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and this slightly modified Wraith-Rocket......

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I'm looking for a new Project for another Full-Metal-Scratch-Build. On "unusual-locomotion" i found the very interesting site with the self-levelling-vehicles. Especially then "chainlink" catched my eyes.


After a lot of thinking it is set.

My new project will be a self-levelling-vehical according to the "chainlink"-style.

Some designated tech-specs:

Motor on Wheels (RB35 gear-motors)
the boom arms will moved sideways, up and down, together with the normal steering every wheel will have four degress of freedom.
Designated management with a 8-Channel Graupner Sender and one, or two, or ? Arduinos.
Size: 2.2 Wheels are fixed, the other sizes depends on construction, but should not greater then a Wraith.

Sounds Interesting? Stay tuned for updates.
Questions? Ask.


P.S.: I've used some cruel wording? English is not my native Language. Please correct me.

Last edited by raven62 : 02-07-2018 at 01:24 PM.
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  #2  
Old 02-07-2018, 11:37 AM
raven62 raven62 is offline
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Hi,

Prototyping for the booms begins.

A little sketch
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I join two Aluminium-bars with M3 Screws and make a great hole to hold the motor.
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The main bar will hold the two servos for the two pivots.
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Old 02-08-2018, 08:41 AM
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Nice project, I had a magazine a few years back with brief article on the 1:1. Looking forward to seeing this.
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Old 02-08-2018, 12:31 PM
raven62 raven62 is offline
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Hi,

the second hinge is ready. angled hinges working not proper and therefore I take the bars on the mill and make them round
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little play with the arm
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theoretical maximum track width = 550 mm / 21,5"
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Old 02-10-2018, 12:21 AM
raven62 raven62 is offline
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Hi,
first steps into deep electronics happens.
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A Master Arduino handles the rc-input.
Two slaves make the output to left or right side actors and potentionally mounted sensors.
The third slave handles the workingmode-button and the flexible led panel wich will show the actual states of the rc-input and other sensors.

The I2C - Bus is enabled. And now I‘m waiting for the 8-channel-receiver to start with the programming.
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Old 02-11-2018, 12:27 PM
raven62 raven62 is offline
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Today‘s routine work. 51 tapped and 40 reamed holes for the three other Arms.

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Old 02-12-2018, 08:06 AM
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Incredible!
Looking forward to seeing this take shape.


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Old 02-18-2018, 11:27 AM
raven62 raven62 is offline
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Hi,

the arms are mechanical completed. I‘ve used gibs in the hinges, so it have a very small clearance.
The vertical adjustment works fine and soft with the rb35 - engine. This little motor have an enormous torque and holds the complete arm without any problems.

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The electronics changes from master slave to one arduino for each actor group.
It‘s a way easier coding and thinking about it than a master slave solution. and, first of all, it works

Tomorrow follows the steering-connection and than i can test and try out all silly ideas wich I have.
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Old 02-18-2018, 07:22 PM
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Wow, this is going to be a very strange and capible build. I can not wait to see what happens with it.

Wow, das wird ein sehr seltsamer und fähiger Build. Ich kann es kaum erwarten zu sehen, was damit passiert.
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Old 02-18-2018, 09:30 PM
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Very interesting, I'll be following this closely! I remember seeing your inspiration vehicle in the past, very strange to look at going! Is the 1:1 vehicle completely manual, or is there any automatic leveling going on? And what about yours, is it going to be fully manual? Not sure how I would go about automation though, maybe with load cells on the wheels arms to try and keep them contacting the ground, and a 2 axis angle sensor you could pull some algorythm! Mmm maybe not... too many real world variables maybe. Very interesting anyways!
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Old 02-18-2018, 11:54 PM
raven62 raven62 is offline
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Hi frizzen,

It’s nice to read some german words here

Hi frederik,

In the first step it will be quarter-automated.
Every rc-signal will be transfered through the Arduinos.

Each actor-group , in this example the sidearms, will be use two rc-channels
One channel to operate and one to decide wich of the four armes will be operate.
All four
The fronts
The backs
The lefts
The rights
Front right
Front left
Back right
Back left

The choosing channel is handled by a potentiometer
When I go from the lefts to the front , I choose shortly the backs. Possibly unpredictable results. So I built in a delay of a second in a choice before it will do something.

The next issie is the handling of servos. The handles on the sender have no automatic reset to zero. So it‘s possible that the servo spring into a undesired position and maybe get damaged. The Solution is to set the zero-point at beginning of a new choice to the actual point of the handle.

Definitely there will be some more issues to fix before even a manual control works.


With two channels every actor-group the eight channels of my sender are occupied.
To encrease my opportinities to control I have ordered a speech recognizer for the arduino. If it works I can elegant change between modi like „autolevel“ „just drive“ or „posing“ .


Auto-level is a thing that will be tried after this. I‘ve planned to try a gyro-sensor for this feature.
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Old 02-19-2018, 12:45 PM
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The very first moves and a little view into the controlling mechanism


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Old 02-21-2018, 10:55 AM
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The Speech recogniser MOVI arrived.

Quickly attached and a short play with the example. Works.

But there will be much fun for me to integrate it. The input voltage is 9V. Too much for the servos , so I have to use two becs.
And with my previous Project-Sketch it has issues with another Library.
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