{"id":505,"date":"2012-11-20T18:12:34","date_gmt":"2012-11-20T23:12:34","guid":{"rendered":"http:\/\/projecthexapod.com\/blog\/?p=505"},"modified":"2012-11-20T18:12:34","modified_gmt":"2012-11-20T23:12:34","slug":"hydraulic-routing-valve-mounting-hoop-jumping-and-swag","status":"publish","type":"post","link":"http:\/\/projecthexapod.com\/blog\/2012\/11\/hydraulic-routing-valve-mounting-hoop-jumping-and-swag\/","title":{"rendered":"Hydraulic routing, valve mounting, hoop jumping and SWAG"},"content":{"rendered":"<p>Hello all!<\/p>\n<p>It&#8217;s been too long since our last update, and for that we apologize. We&#8217;ve gotten a ton done. Most of it has been the not-so-glamorous support work that needs to happen. Since our last post, we&#8217;ve:<\/p>\n<ul>\n<li>Acquired insurance for prototype leg and robot operations<\/li>\n<li>Worked out a safety agreement with the Artisan&#8217;s Asylum<\/li>\n<li>Received all of our swag!<\/li>\n<ul>\n<li>800+ T-shirts of many sizes<\/li>\n<li>1500+ bumper stickers<\/li>\n<li>1500+ wrist bands<\/li>\n<\/ul>\n<li>Negotiated a deal with a shipping company to ship all our Kickstarter backers their rewards (without breaking the bank)<\/li>\n<\/ul>\n<p>The T shirts arrived on Friday and are looking great:<\/p>\n<p><a href=\"http:\/\/projecthexapod.com\/blog\/wp-content\/uploads\/2012\/11\/t-shirts.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-516\" title=\"t-shirts\" src=\"http:\/\/projecthexapod.com\/blog\/wp-content\/uploads\/2012\/11\/t-shirts.jpg\" alt=\"\" width=\"1024\" height=\"765\" srcset=\"http:\/\/projecthexapod.com\/blog\/wp-content\/uploads\/2012\/11\/t-shirts.jpg 1024w, http:\/\/projecthexapod.com\/blog\/wp-content\/uploads\/2012\/11\/t-shirts-300x224.jpg 300w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/a><\/p>\n<p>So to all our Kickstarter backers, your stuff should be arriving in the next month.\u00a0 It&#8217;s taken us longer than we expected, and for that we apologize.\u00a0 We still need to pack and address over a thousand packages, but we have all the equipment in place to do it.<\/p>\n<p>On the robot side of things we&#8217;ve also hit a few milestones.<\/p>\n<p><!--more--><\/p>\n<p>We&#8217;ve put together a mobile, electrically powered hydraulic power unit (HPU).\u00a0 This HPU will make it easy for us to do controlled, indoor testing for the prototype leg.<\/p>\n<p><a href=\"http:\/\/projecthexapod.com\/blog\/wp-content\/uploads\/2012\/11\/pic6.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-510\" title=\"HPU\" src=\"http:\/\/projecthexapod.com\/blog\/wp-content\/uploads\/2012\/11\/pic6.jpg\" alt=\"\" width=\"1024\" height=\"768\" srcset=\"http:\/\/projecthexapod.com\/blog\/wp-content\/uploads\/2012\/11\/pic6.jpg 1024w, http:\/\/projecthexapod.com\/blog\/wp-content\/uploads\/2012\/11\/pic6-300x225.jpg 300w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/a><\/p>\n<p>That cart may look familiar: we repurposed the custom-built cart we used for Gimpy, our first prototype leg.<\/p>\n<p>&#8220;What did you use to power Gimpy?\u00a0 Why don&#8217;t you use that to power the big prototype leg?&#8221;\u00a0 Great question.\u00a0 Gimpy&#8217;s hydraulic power unit could only supply 1000psi at a very low flow rate.\u00a0 We need at least 2200psi to realistically test the full scale protoleg.<\/p>\n<p>We&#8217;ve hydraulically plumbed the leg: all the necessary valves and hoses are in place.\u00a0 The entire leg hydraulic system comes back to a pair of quick-disconnect fittings that connect to our mobile HPU.<\/p>\n<p>%%wppa%%<br \/>\n%%slide=6%%<\/p>\n<p>We&#8217;ve also built up the joint controllers we&#8217;ll need to actually control this leg.\u00a0 These joint controllers are much more advanced than the ones we used on Gimpy, and feature:<\/p>\n<ul>\n<li>Fast Ethernet (100Mbps)<\/li>\n<li>Power over Ethernet<\/li>\n<li>12-bit rotary magnetic encoder (Austria Microsystems AS5045-ASSU) for reading joint positions<\/li>\n<li>Dual 1.5A, 12-bit, dithering current controllers for driving valves<\/li>\n<\/ul>\n<p>%%wppa%%<br \/>\n%%slide=7%%<\/p>\n<p>Next up: packing and shipping over 1000 units of swag, then wiring the leg and *gasp* turning it on for the first time.<\/p>\n<p>Thanks for reading and have a happy Thanksgiving holiday!<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Hello all! It&#8217;s been too long since our last update, and for that we apologize. We&#8217;ve gotten a ton done. Most of it has been the not-so-glamorous support work that needs to happen. Since our last post, we&#8217;ve: Acquired insurance for prototype leg and robot operations Worked out a safety agreement with the Artisan&#8217;s Asylum &hellip; <a href=\"http:\/\/projecthexapod.com\/blog\/2012\/11\/hydraulic-routing-valve-mounting-hoop-jumping-and-swag\/\" class=\"more-link\">Continue reading <span class=\"screen-reader-text\">Hydraulic routing, valve mounting, hoop jumping and SWAG<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-505","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"_links":{"self":[{"href":"http:\/\/projecthexapod.com\/blog\/wp-json\/wp\/v2\/posts\/505","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/projecthexapod.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/projecthexapod.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/projecthexapod.com\/blog\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/projecthexapod.com\/blog\/wp-json\/wp\/v2\/comments?post=505"}],"version-history":[{"count":10,"href":"http:\/\/projecthexapod.com\/blog\/wp-json\/wp\/v2\/posts\/505\/revisions"}],"predecessor-version":[{"id":525,"href":"http:\/\/projecthexapod.com\/blog\/wp-json\/wp\/v2\/posts\/505\/revisions\/525"}],"wp:attachment":[{"href":"http:\/\/projecthexapod.com\/blog\/wp-json\/wp\/v2\/media?parent=505"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/projecthexapod.com\/blog\/wp-json\/wp\/v2\/categories?post=505"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/projecthexapod.com\/blog\/wp-json\/wp\/v2\/tags?post=505"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}