Rukia (FW)

Here I go again, rebuilding Rukia for a third time.

For those who don't know about Rukia, she started as a 4 wheel drive rambot concept then I change it to a 4-bar lifter which it looked like the love child of Biohazard & Panic Attack.

Here's what the last build looks like.
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It's 18 inches long and 16 inches wide.

Problem one, the Linear Actuator is 14 inches long with a 4 inch stroke
too long for my 4-bar lifter and I can't buy a smaller version of it any more and can't find a replacement for it.

Problem two, the shaft's for the 35W motor's I made are crap, the 4mm square bar I put in is not straight and you can guess from there.

Last problem is, the wheel's are not in line, so yea I didn't do a good job there.

So back to the drawing board, I'm still thinking up some designs. I may do a Panic Attack like featherweight or King Buxton, not sure yet.

I'm just making this post just to say Rukia is not dead I still plan to build her.

So I'm been messing about, what to do with Rukia, and at the end I have made a decision to keep the original 4-bar lifter design.

I have found a new Linear Actuator, much more smaller than the one I have. The actuator I'm looking at is the one from Gimson Robotics, but I want a 3 inches stroke they only have 2,4 and higher.

i'm sure you could add some sort of limiter onto a 4 stroke gimson. for example you could probably add stops to the front bars to stop them moving forward the full amount.

I'll think of something.

Update

I did a lot today, cut up the 15mm Nylon 6 even though I ordered 12mm :lame: and cut up the 4mm aluminium plate.
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As you can see the size difference between the two, Rukia is now just under 16 inches long , just over 16 inches wide and 9cm tall.
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I don't think I need two battery's. One battery should be powerful enough to run more that 3-4 minutes, they are 4600mah Ni-MH battery's.

A much more practical size! The previous version would have dwarfed most featherweights. Looks like you have a well planned, measured approach to building. Looking good!

As for the batteries, you'll easily run one battle, probably two, maybe even three with 4.6ah. Tormenta 1 had five 12v drills (overvolted to 18v) with a total of 5ah batteries. We charged once across Friday, Saturday and Sunday at the champs (7 battles total), and we only actually put 1ah back in. We still have loads of capacity left even now, having run all sorts of tests with the batteries since then.

Point being, 4.6ah will be ample (lol). If you have the weight, though, you may want to run both batteries. Putting them in parallel would mean you'd only have to charge once in a blue moon, but not only that you'd have double the discharge rate available. I don't know what those motors pull at stall, but it's likely to be near 15a or maybe more. Those NiMH packs are rated to around 30a I believe. Slamming drive on from a standing start might blip the demand beyond a single battery's abilities. Having two batteries could potentially improve drive power.

Then again, truth is, a single battery would be perfectly good, I'm just blabbering. :lol:

Keep it up!

Update

I have wired it all up now, pain in the arse to keep the batteries in parallel and do.

All that's left is to put it together and get a new Linear Actuator, because the one I have will interfere with the arm, so I'm getting a Tube Actuator it's 11 inches long but I can make it work.
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Looking good, nice design and well thought out build.

Not much been done, just made the arm and mount it. I have bolt down the battery's and ESC's.

As it is now, it's 7.5kg heavy. And I'm waiting for the shaft to be made, so I can continue building.

I'm just hope I can put on the 4mm mid steel armor with 4mm 6082 aluminium top.

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Arm is looking great! And that's pretty high for a four bar. Can't wait to see it in action!