I managed to get some more work done on the robot tonight as well as a quick mockup.

I made an 18 mm brushing to guide the keyway broaches and I now have 3mm keyways in my shaft adaptors and pulleys. They have turned out very nicely and work well. I'm currently debating whether to put a keyway in the shaft adaptor for the motors. It'd certainly be a more secure way to lock the shaft adaptors to the motor shafts. Unfortunately its not the most photogenic of changes.

Instead I layed out the parts in their rough places:

Here you can see some of the sides, namely the welds and how I'm mounting the motor. The motors are not bolted in at the moment for two reasons; I need to mill some clearance into the top and bottom parts for the wheels but also because I don't actually have the right M5 bolts, I have ones that are too short, or too long.


This view shows the position of the parts a little better. It's missing the linear servo TZ-85A which I'm still working on, as well as having a lashed together removable link and terminal blocks. It's starting to look like a real robot!