{"id":2408,"date":"2017-12-31T15:46:04","date_gmt":"2017-12-31T15:46:04","guid":{"rendered":"http:\/\/dyor.roboticafacil.es\/?p=2408"},"modified":"2023-09-13T15:03:41","modified_gmt":"2023-09-13T15:03:41","slug":"diseno-qcad-del-robot-dyor-bped","status":"publish","type":"post","link":"https:\/\/dyor.webs.upv.es\/en\/diseno-qcad-del-robot-dyor-bped\/","title":{"rendered":"QCAD Design of DYOR bPED"},"content":{"rendered":"<p>In this entry, we show how to design DYOR bPED with QCAD step by step (this is a complete version of it).<\/p>\n<p><!--more--><\/p>\n<p>Our proposal for the design of DYOR in 2D is shown here:<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2460\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/DYOR_bPED_laser_cut.png\" alt=\"\" width=\"416\" height=\"367\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/DYOR_bPED_laser_cut.png 416w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/DYOR_bPED_laser_cut-300x265.png 300w\" sizes=\"auto, (max-width: 416px) 100vw, 416px\" \/><\/p>\n<p style=\"text-align: center;\"><div class=\"\"><a href=\"https:\/\/dyor.webs.upv.es\/laser\/bPED_lasercut.dxf\" target=\"_self\" class=\"emd_dl_green_dark\" download>DYOR bPED Laser cutting<\/a><\/div>    <style>            \r\n    .emd_dl_green_dark {\r\n        -moz-box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        -webkit-box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #77d42a), color-stop(1, #5cb811) );\r\n        background:-moz-linear-gradient( center top, #77d42a 5%, #5cb811 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#77d42a', endColorstr='#5cb811');\r\n        background-color:#77d42a;\r\n        -webkit-border-top-left-radius:0px;\r\n        -moz-border-radius-topleft:0px;\r\n        border-top-left-radius:0px;\r\n        -webkit-border-top-right-radius:0px;\r\n        -moz-border-radius-topright:0px;\r\n        border-top-right-radius:0px;\r\n        -webkit-border-bottom-right-radius:0px;\r\n        -moz-border-radius-bottomright:0px;\r\n        border-bottom-right-radius:0px;\r\n        -webkit-border-bottom-left-radius:0px;\r\n        -moz-border-radius-bottomleft:0px;\r\n        border-bottom-left-radius:0px;\r\n        text-indent:0;\r\n        border:1px solid #268a16;\r\n        display:inline-block;\r\n        color:#306108 !important;\r\n        font-family:Georgia;\r\n        font-size:15px;\r\n        font-weight:bold;\r\n        font-style:normal;\r\n        height:41px;\r\n        line-height:41px;\r\n        width:250px;\r\n        text-decoration:none;\r\n        text-align:center;\r\n        text-shadow:1px 1px 0px #aade7c;\r\n    }\r\n    .emd_dl_green_dark:hover {\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #5cb811), color-stop(1, #77d42a) );\r\n        background:-moz-linear-gradient( center top, #5cb811 5%, #77d42a 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#5cb811', endColorstr='#77d42a');\r\n        background-color:#5cb811;\r\n    }.emd_dl_green_dark:active {\r\n        position:relative;\r\n        top:1px;\r\n    }<\/style><\/p>\n<h4>Base design<\/h4>\n<p>Create a rectangle of dimensions (82,97) mm, place the first corner at position (0,0) mm.<img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2409\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/base1.png\" alt=\"\" width=\"255\" height=\"296\" \/><\/p>\n<p>Now, with the rounding too [R,N] with a radius of 5 mm round the corners of the base:<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2410\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/base2.png\" alt=\"\" width=\"258\" height=\"298\" \/><\/p>\n<p>Starting 8 mm of distance from the sides, we can create two circles to pass through the servo cables with radius 4.5mm. The centres of the circles are actually in coordinates (8,8) and (74,8) mm, respectively.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2411\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/base3.png\" alt=\"\" width=\"305\" height=\"348\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/base3.png 305w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/base3-263x300.png 263w\" sizes=\"auto, (max-width: 305px) 100vw, 305px\" \/><\/p>\n<p>Create two rectangles for the leg servos. The first rectangle has, as first coordinate the corner at (0,30.4) mm and the second corner coordinate at (11.8,53.6) mm. The second rectangle has as first coordinate the point (70.2,30.4) mm and as the second coordinate (82,53.6) mm.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2413\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/base4.png\" alt=\"\" width=\"305\" height=\"350\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/base4.png 305w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/base4-261x300.png 261w\" sizes=\"auto, (max-width: 305px) 100vw, 305px\" \/><\/p>\n<p>Now, we create holes for robot&#8217;s face. The first rectangle is placed at corner (22,89) mm from the origin and the second corner is placed at a relative position @10,3 mm from the first corner. For the second hole, we repeat the procedures, but now the first corner is placed at (50,89) mm from the origin.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2414\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/base5.png\" alt=\"\" width=\"317\" height=\"353\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/base5.png 317w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/base5-269x300.png 269w\" sizes=\"auto, (max-width: 317px) 100vw, 317px\" \/><\/p>\n<p>Now, we should remove unnecessary parts for laser cutting. In particular, we will remove the lines of the servos in coincident with the robot&#8217;s base. So the actual design should be as shown:<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2415\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/base6.png\" alt=\"\" width=\"320\" height=\"359\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/base6.png 320w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/base6-267x300.png 267w\" sizes=\"auto, (max-width: 320px) 100vw, 320px\" \/><\/p>\n<p>Finally, we will set all created objects to belong to the &#8220;Cut&#8221; layer and join them to create a single polyline with command [O,G].<\/p>\n<p style=\"text-align: center;\"><div class=\"\"><a href=\"https:\/\/dyor.webs.upv.es\/laser\/bPED_base_simple.dxf\" target=\"_self\" class=\"emd_dl_green_dark\" download>DYOR bPED Laser cutting base<\/a><\/div>    <style>            \r\n    .emd_dl_green_dark {\r\n        -moz-box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        -webkit-box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #77d42a), color-stop(1, #5cb811) );\r\n        background:-moz-linear-gradient( center top, #77d42a 5%, #5cb811 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#77d42a', endColorstr='#5cb811');\r\n        background-color:#77d42a;\r\n        -webkit-border-top-left-radius:0px;\r\n        -moz-border-radius-topleft:0px;\r\n        border-top-left-radius:0px;\r\n        -webkit-border-top-right-radius:0px;\r\n        -moz-border-radius-topright:0px;\r\n        border-top-right-radius:0px;\r\n        -webkit-border-bottom-right-radius:0px;\r\n        -moz-border-radius-bottomright:0px;\r\n        border-bottom-right-radius:0px;\r\n        -webkit-border-bottom-left-radius:0px;\r\n        -moz-border-radius-bottomleft:0px;\r\n        border-bottom-left-radius:0px;\r\n        text-indent:0;\r\n        border:1px solid #268a16;\r\n        display:inline-block;\r\n        color:#306108 !important;\r\n        font-family:Georgia;\r\n        font-size:15px;\r\n        font-weight:bold;\r\n        font-style:normal;\r\n        height:41px;\r\n        line-height:41px;\r\n        width:250px;\r\n        text-decoration:none;\r\n        text-align:center;\r\n        text-shadow:1px 1px 0px #aade7c;\r\n    }\r\n    .emd_dl_green_dark:hover {\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #5cb811), color-stop(1, #77d42a) );\r\n        background:-moz-linear-gradient( center top, #5cb811 5%, #77d42a 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#5cb811', endColorstr='#77d42a');\r\n        background-color:#5cb811;\r\n    }.emd_dl_green_dark:active {\r\n        position:relative;\r\n        top:1px;\r\n    }<\/style><\/p>\n<h4>Foot design<\/h4>\n<p>The foot design is same for both feet and a vertical mirroring is required once one of them is created to create the other one.<\/p>\n<p>On a new drawing, create a rectangle of dimensions (66,75) mm, place the first corner at coordinate (0,0) mm (some parts of this rectangle will be removed later on).<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2416\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/foot1.png\" alt=\"\" width=\"307\" height=\"339\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/foot1.png 307w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/foot1-272x300.png 272w\" sizes=\"auto, (max-width: 307px) 100vw, 307px\" \/><\/p>\n<p>Now, with the rounding tool [R,N] with a radius of 10 mm we will round the corners of the foot:<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2419\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/foot2-1.png\" alt=\"\" width=\"300\" height=\"323\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/foot2-1.png 300w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/foot2-1-279x300.png 279w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/p>\n<p>Now, we will create holes to insert the ankle part of the robot. They are two rectangles of dimensions (5,3) mm. The first corner of the first hole is placed at coordinate (28,4) mm, while the second corner is at coordinate (33,7) mm. Repeat the process for the second hole with coordinates (38,4) mm and (43,7) mm, respectively.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2420\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/foot3.png\" alt=\"\" width=\"296\" height=\"331\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/foot3.png 296w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/foot3-268x300.png 268w\" sizes=\"auto, (max-width: 296px) 100vw, 296px\" \/><\/p>\n<p>Now, with the ellipsis tool, we can create three ellipses at the front of the foot, to represent the toe&#8217;s nails. Their position and size are not relevant as long as they satisfy minimum manufacturing constraints:<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2421\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/foot4.png\" alt=\"\" width=\"259\" height=\"284\" \/><\/p>\n<p>Finally, with the arc segment tool, we can create the toes. Again the position and size are not relevant, but we must concatenate arc segment ends, so the end point of one must be the starting point of the next one. The easiest way is to use the option to create the arc segment by specifying three points.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2425\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/foot5.png\" alt=\"\" width=\"295\" height=\"330\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/foot5.png 295w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/foot5-268x300.png 268w\" sizes=\"auto, (max-width: 295px) 100vw, 295px\" \/><\/p>\n<p>Now, we can move all elements to the &#8220;Cut&#8221; layer and join them to create a single polyline using the command [O,G].<\/p>\n<p style=\"text-align: center;\"><div class=\"\"><a href=\"https:\/\/dyor.webs.upv.es\/laser\/bPED_foot_simple.dxf\" target=\"_self\" class=\"emd_dl_green_dark\" download>DYOR bPED Laser cutting foot<\/a><\/div>    <style>            \r\n    .emd_dl_green_dark {\r\n        -moz-box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        -webkit-box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #77d42a), color-stop(1, #5cb811) );\r\n        background:-moz-linear-gradient( center top, #77d42a 5%, #5cb811 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#77d42a', endColorstr='#5cb811');\r\n        background-color:#77d42a;\r\n        -webkit-border-top-left-radius:0px;\r\n        -moz-border-radius-topleft:0px;\r\n        border-top-left-radius:0px;\r\n        -webkit-border-top-right-radius:0px;\r\n        -moz-border-radius-topright:0px;\r\n        border-top-right-radius:0px;\r\n        -webkit-border-bottom-right-radius:0px;\r\n        -moz-border-radius-bottomright:0px;\r\n        border-bottom-right-radius:0px;\r\n        -webkit-border-bottom-left-radius:0px;\r\n        -moz-border-radius-bottomleft:0px;\r\n        border-bottom-left-radius:0px;\r\n        text-indent:0;\r\n        border:1px solid #268a16;\r\n        display:inline-block;\r\n        color:#306108 !important;\r\n        font-family:Georgia;\r\n        font-size:15px;\r\n        font-weight:bold;\r\n        font-style:normal;\r\n        height:41px;\r\n        line-height:41px;\r\n        width:250px;\r\n        text-decoration:none;\r\n        text-align:center;\r\n        text-shadow:1px 1px 0px #aade7c;\r\n    }\r\n    .emd_dl_green_dark:hover {\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #5cb811), color-stop(1, #77d42a) );\r\n        background:-moz-linear-gradient( center top, #5cb811 5%, #77d42a 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#5cb811', endColorstr='#77d42a');\r\n        background-color:#5cb811;\r\n    }.emd_dl_green_dark:active {\r\n        position:relative;\r\n        top:1px;\r\n    }<\/style><\/p>\n<h4>Leg Design<\/h4>\n<p>The leg is composed of three parts: the front part, fixed to the feet servo; the rear one, in contact with the ankle part and the top one attached to the servo leg. All three parts must create a &#8220;U&#8221; once assembled.<\/p>\n<p>Let&#8217;s first create a polyline with the following coordinates:<\/p>\n<pre>0,27\r\n@0,-27\r\n@5,0\r\n@0,3\r\n@5,0\r\n@0,-3\r\n@5,0\r\n@0,27<\/pre>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2424\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/leg1.png\" alt=\"\" width=\"160\" height=\"262\" \/><\/p>\n<p>Now, let&#8217;s create a circle with radius 5mm and centre (7.5,33.5) mm:<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2426\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/leg2.png\" alt=\"\" width=\"164\" height=\"270\" \/><\/p>\n<p>Now, we will create tangent lines to the circle with initial points the ends of the polyline:<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2427\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/leg3.png\" alt=\"\" width=\"153\" height=\"279\" \/><\/p>\n<p>To remove the part of the circle not belonging to the periphery, we can use the Divide tool [D,I], select the circle and the intersection points. Once the circle is divided, we can remove the arc segment we are not interested in.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2428\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/leg4.png\" alt=\"\" width=\"134\" height=\"249\" \/><\/p>\n<p>Now, we can create a circle with radius 3.5 mm and centre (7.5,33.5) mm.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2431\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/leg5.png\" alt=\"\" width=\"137\" height=\"250\" \/><\/p>\n<p>and another smaller circle with radius 2 mm and centre (7.5,19) mm.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2432\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/leg6.png\" alt=\"\" width=\"115\" height=\"258\" \/><\/p>\n<p>To generate the servo horn, we can create tangent lines to both circles.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2433\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/leg7.png\" alt=\"\" width=\"143\" height=\"261\" \/><\/p>\n<p>Now, we will create an arc segment with radius 3.5 mm and end points coincident with ends of the two recently created lines. This arc segment appears selected in the image.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-2434\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/leg8.png\" alt=\"\" width=\"143\" height=\"267\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/leg8.png 162w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/leg8-160x300.png 160w\" sizes=\"auto, (max-width: 143px) 100vw, 143px\" \/><\/p>\n<p>Finally, we can divide the smaller circle into to at the tangent points as before with the Divide tool [D,I].<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2436\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/leg9.png\" alt=\"\" width=\"129\" height=\"252\" \/><\/p>\n<p>Now it is convenient to move the periphery objects as well as the big circle to the &#8220;Cut&#8221; layer and the objects corresponding to the servo horn to the &#8220;Engraving&#8221; layer.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2437\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/leg10.png\" alt=\"\" width=\"123\" height=\"258\" \/><\/p>\n<p>As a reminder, you can join all objects with the command [O,G].<\/p>\n<p style=\"text-align: center;\"><div class=\"\"><a href=\"https:\/\/dyor.webs.upv.es\/laser\/bPED_leg1_simple.dxf\" target=\"_self\" class=\"emd_dl_green_dark\" download>DYOR bPED Laser cutting leg 1<\/a><\/div>    <style>            \r\n    .emd_dl_green_dark {\r\n        -moz-box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        -webkit-box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #77d42a), color-stop(1, #5cb811) );\r\n        background:-moz-linear-gradient( center top, #77d42a 5%, #5cb811 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#77d42a', endColorstr='#5cb811');\r\n        background-color:#77d42a;\r\n        -webkit-border-top-left-radius:0px;\r\n        -moz-border-radius-topleft:0px;\r\n        border-top-left-radius:0px;\r\n        -webkit-border-top-right-radius:0px;\r\n        -moz-border-radius-topright:0px;\r\n        border-top-right-radius:0px;\r\n        -webkit-border-bottom-right-radius:0px;\r\n        -moz-border-radius-bottomright:0px;\r\n        border-bottom-right-radius:0px;\r\n        -webkit-border-bottom-left-radius:0px;\r\n        -moz-border-radius-bottomleft:0px;\r\n        border-bottom-left-radius:0px;\r\n        text-indent:0;\r\n        border:1px solid #268a16;\r\n        display:inline-block;\r\n        color:#306108 !important;\r\n        font-family:Georgia;\r\n        font-size:15px;\r\n        font-weight:bold;\r\n        font-style:normal;\r\n        height:41px;\r\n        line-height:41px;\r\n        width:350px;\r\n        text-decoration:none;\r\n        text-align:center;\r\n        text-shadow:1px 1px 0px #aade7c;\r\n    }\r\n    .emd_dl_green_dark:hover {\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #5cb811), color-stop(1, #77d42a) );\r\n        background:-moz-linear-gradient( center top, #5cb811 5%, #77d42a 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#5cb811', endColorstr='#77d42a');\r\n        background-color:#5cb811;\r\n    }.emd_dl_green_dark:active {\r\n        position:relative;\r\n        top:1px;\r\n    }<\/style><\/p>\n<h5>Rear Leg<\/h5>\n<p>Based on the previous design, we can remove the inner objects and create a circle with centre (7.5,33.5) mm and radius 2.45 mm for the ball bearing. All elements must be moved to the &#8220;Cut&#8221; layer as a single polyline.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2439\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/leg11.png\" alt=\"\" width=\"116\" height=\"219\" \/><\/p>\n<p style=\"text-align: center;\"><div class=\"\"><a href=\"https:\/\/dyor.webs.upv.es\/laser\/bPED_leg2_simple.dxf\" target=\"_self\" class=\"emd_dl_green_dark\" download>DYOR bPED Laser cutting 2<\/a><\/div>    <style>            \r\n    .emd_dl_green_dark {\r\n        -moz-box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        -webkit-box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #77d42a), color-stop(1, #5cb811) );\r\n        background:-moz-linear-gradient( center top, #77d42a 5%, #5cb811 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#77d42a', endColorstr='#5cb811');\r\n        background-color:#77d42a;\r\n        -webkit-border-top-left-radius:0px;\r\n        -moz-border-radius-topleft:0px;\r\n        border-top-left-radius:0px;\r\n        -webkit-border-top-right-radius:0px;\r\n        -moz-border-radius-topright:0px;\r\n        border-top-right-radius:0px;\r\n        -webkit-border-bottom-right-radius:0px;\r\n        -moz-border-radius-bottomright:0px;\r\n        border-bottom-right-radius:0px;\r\n        -webkit-border-bottom-left-radius:0px;\r\n        -moz-border-radius-bottomleft:0px;\r\n        border-bottom-left-radius:0px;\r\n        text-indent:0;\r\n        border:1px solid #268a16;\r\n        display:inline-block;\r\n        color:#306108 !important;\r\n        font-family:Georgia;\r\n        font-size:15px;\r\n        font-weight:bold;\r\n        font-style:normal;\r\n        height:41px;\r\n        line-height:41px;\r\n        width:350px;\r\n        text-decoration:none;\r\n        text-align:center;\r\n        text-shadow:1px 1px 0px #aade7c;\r\n    }\r\n    .emd_dl_green_dark:hover {\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #5cb811), color-stop(1, #77d42a) );\r\n        background:-moz-linear-gradient( center top, #5cb811 5%, #77d42a 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#5cb811', endColorstr='#77d42a');\r\n        background-color:#5cb811;\r\n    }.emd_dl_green_dark:active {\r\n        position:relative;\r\n        top:1px;\r\n    }<\/style><\/p>\n<h5>Top Leg<\/h5>\n<p>Create a polyline with the following commands:<\/p>\n<pre>0,3\r\n@5,0 \r\n@0,-3 \r\n@5,0 \r\n@0,3 \r\n@5,0 \r\n@0,33\r\n@-5,0\r\n@0,3\r\n@-5,0\r\n@0,-3\r\n@-5,0\r\n@0,-33\r\n\r\n<\/pre>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2440\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/leg12.png\" alt=\"\" width=\"120\" height=\"254\" \/><\/p>\n<p>Now, we create three circles with centers and radius as indicated:<\/p>\n<ul>\n<li>First circle: Center (7.5,19.5) mm and radius 3.5 mm.<\/li>\n<li>Second circle: Center (7.5,5.2) mm and radius 2 mm.<\/li>\n<li>Third circle: Center (7.5,33.8) mm and radius 2 mm.<\/li>\n<\/ul>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2441\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/leg13.png\" alt=\"\" width=\"121\" height=\"257\" \/><\/p>\n<p>Now we create four line segments tangent to the circles as shown:<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2442\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/leg14.png\" alt=\"\" width=\"114\" height=\"247\" \/><\/p>\n<p>Now, let&#8217;s divide (with command [D,I]) the circles into two at tangent points and remove the reminder arc segment. To make sure that the dividing point is the correct, it should be indicated as &#8220;intersection&#8221; when placing the cursor over it.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2443\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/leg15.png\" alt=\"\" width=\"132\" height=\"255\" \/><\/p>\n<p>Now, to avoid getting confused, it&#8217;s better to move the polyline and the central circle to the cutting layer, which will be temporarily hidden.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2444\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/leg16.png\" alt=\"\" width=\"97\" height=\"218\" \/><\/p>\n<p>Create another circle with centre (7.5,19.5) mm and radius 3.5 mm and as before, we divide the circle into four segments with at the contact points with the lines and remove the reminder segment at the sides and move them to the &#8220;Engraving&#8221; layer. The expected result is shown below (remember to join all polylines):<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2445\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/leg17.png\" alt=\"\" width=\"144\" height=\"260\" \/><\/p>\n<p style=\"text-align: center;\"><div class=\"\"><a href=\"https:\/\/dyor.webs.upv.es\/laser\/bPED_leg3_simple.dxf\" target=\"_self\" class=\"emd_dl_green_dark\" download>DYOR bPED Laser Cutting leg 3<\/a><\/div>    <style>            \r\n    .emd_dl_green_dark {\r\n        -moz-box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        -webkit-box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #77d42a), color-stop(1, #5cb811) );\r\n        background:-moz-linear-gradient( center top, #77d42a 5%, #5cb811 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#77d42a', endColorstr='#5cb811');\r\n        background-color:#77d42a;\r\n        -webkit-border-top-left-radius:0px;\r\n        -moz-border-radius-topleft:0px;\r\n        border-top-left-radius:0px;\r\n        -webkit-border-top-right-radius:0px;\r\n        -moz-border-radius-topright:0px;\r\n        border-top-right-radius:0px;\r\n        -webkit-border-bottom-right-radius:0px;\r\n        -moz-border-radius-bottomright:0px;\r\n        border-bottom-right-radius:0px;\r\n        -webkit-border-bottom-left-radius:0px;\r\n        -moz-border-radius-bottomleft:0px;\r\n        border-bottom-left-radius:0px;\r\n        text-indent:0;\r\n        border:1px solid #268a16;\r\n        display:inline-block;\r\n        color:#306108 !important;\r\n        font-family:Georgia;\r\n        font-size:15px;\r\n        font-weight:bold;\r\n        font-style:normal;\r\n        height:41px;\r\n        line-height:41px;\r\n        width:350px;\r\n        text-decoration:none;\r\n        text-align:center;\r\n        text-shadow:1px 1px 0px #aade7c;\r\n    }\r\n    .emd_dl_green_dark:hover {\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #5cb811), color-stop(1, #77d42a) );\r\n        background:-moz-linear-gradient( center top, #5cb811 5%, #77d42a 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#5cb811', endColorstr='#77d42a');\r\n        background-color:#5cb811;\r\n    }.emd_dl_green_dark:active {\r\n        position:relative;\r\n        top:1px;\r\n    }<\/style><\/p>\n<h4>Ankle Design<\/h4>\n<p>The ankle is a part with a small hole for a rivet passing through the ball bearing (inserted in the rear leg part). Let&#8217;s first start with a polyline with the following commands:<\/p>\n<pre>0,9.3\r\n@0,-9.3\r\n@5,0\r\n@0,3\r\n@5,0\r\n@0,-3\r\n@5,0\r\n@0,9.3<\/pre>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2446\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/ankle1.png\" alt=\"\" width=\"159\" height=\"123\" \/><\/p>\n<p>Now, let&#8217;s create an arc segment with radius 7.5 mm and end-points the ends of the polyline.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2448\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/ankle2.png\" alt=\"\" width=\"157\" height=\"162\" \/><\/p>\n<p>Finally, we will create a circle with radius 1 mm and centre (7.5,9.3) mm.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2449\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/ankle3.png\" alt=\"\" width=\"151\" height=\"146\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/ankle3.png 151w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/ankle3-150x146.png 150w\" sizes=\"auto, (max-width: 151px) 100vw, 151px\" \/><\/p>\n<p>Now, we can move all objects to the &#8220;Cut&#8221; layer and join them to form a single polyline with command [O,G].<\/p>\n<p style=\"text-align: center;\"><div class=\"\"><a href=\"https:\/\/dyor.webs.upv.es\/laser\/bPED_ankle_simple.dxf\" target=\"_self\" class=\"emd_dl_green_dark\" download>DYOR bPED Laser Cutting ankle<\/a><\/div>    <style>            \r\n    .emd_dl_green_dark {\r\n        -moz-box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        -webkit-box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #77d42a), color-stop(1, #5cb811) );\r\n        background:-moz-linear-gradient( center top, #77d42a 5%, #5cb811 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#77d42a', endColorstr='#5cb811');\r\n        background-color:#77d42a;\r\n        -webkit-border-top-left-radius:0px;\r\n        -moz-border-radius-topleft:0px;\r\n        border-top-left-radius:0px;\r\n        -webkit-border-top-right-radius:0px;\r\n        -moz-border-radius-topright:0px;\r\n        border-top-right-radius:0px;\r\n        -webkit-border-bottom-right-radius:0px;\r\n        -moz-border-radius-bottomright:0px;\r\n        border-bottom-right-radius:0px;\r\n        -webkit-border-bottom-left-radius:0px;\r\n        -moz-border-radius-bottomleft:0px;\r\n        border-bottom-left-radius:0px;\r\n        text-indent:0;\r\n        border:1px solid #268a16;\r\n        display:inline-block;\r\n        color:#306108 !important;\r\n        font-family:Georgia;\r\n        font-size:15px;\r\n        font-weight:bold;\r\n        font-style:normal;\r\n        height:41px;\r\n        line-height:41px;\r\n        width:250px;\r\n        text-decoration:none;\r\n        text-align:center;\r\n        text-shadow:1px 1px 0px #aade7c;\r\n    }\r\n    .emd_dl_green_dark:hover {\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #5cb811), color-stop(1, #77d42a) );\r\n        background:-moz-linear-gradient( center top, #5cb811 5%, #77d42a 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#5cb811', endColorstr='#77d42a');\r\n        background-color:#5cb811;\r\n    }.emd_dl_green_dark:active {\r\n        position:relative;\r\n        top:1px;\r\n    }<\/style><\/p>\n<h4>Face Design<\/h4>\n<p>Let&#8217;s start by creating a polyline:<\/p>\n<pre>0,70\r\n@0,-67\r\n@11,0\r\n@0,-3\r\n@10,0\r\n@0,3\r\n@18,0\r\n@0,-3\r\n@10,0\r\n@0,3\r\n@11,0\r\n@0,67<\/pre>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2451\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/face1.png\" alt=\"\" width=\"233\" height=\"273\" \/><\/p>\n<p>Holes for the sonar sensor are circles of radius 8 mm, with centres (17,57.5) mm and (43,57.5) mm, respectively. On the other hand, the hole for the buzzer is a circle with radius 6 mm with centre (30,37.5) mm.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2453\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/face2.png\" alt=\"\" width=\"252\" height=\"307\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/face2.png 252w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/face2-246x300.png 246w\" sizes=\"auto, (max-width: 252px) 100vw, 252px\" \/><\/p>\n<p>For the holes corresponding to the LED strip with 7-LEDs, the &#8220;mouth&#8221;, we will start by creating a square with 5&#215;5 mm dimensions (corresponding to the LED in the centre position). The first corner of the square is the coordinate (27.5,14.1) mm, while the second corner with (32.5,19.1) mm. Select the square and create a copy of it [M,V] and introduce as the reference point any corner of the square and as a target point @8,0, that is, the new square will be placed 8 mm to the right (make sure you don&#8217;t delete the original during copying). In order to create rotated copies, we will first create an auxiliary line between the middle points of the central square (so that we can choose later on the middle point as a pivoting point.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2454\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/face3.png\" alt=\"\" width=\"248\" height=\"276\" \/><\/p>\n<p>Now, we can select the square to the right and create 5 copies rotated 60\u00ba with the command [R,O] and selecting as pivoting point the intersecting point of auxiliary lines. After that, we can remove auxiliary lines.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2455\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/face4.png\" alt=\"\" width=\"298\" height=\"330\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/face4.png 298w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/face4-271x300.png 271w\" sizes=\"auto, (max-width: 298px) 100vw, 298px\" \/><\/p>\n<p>Now, we can draw the hair, in a similar way we did the toes, by drawing connected arc segments.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-2456\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/face5.png\" alt=\"\" width=\"236\" height=\"318\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/face5.png 236w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/face5-223x300.png 223w\" sizes=\"auto, (max-width: 236px) 100vw, 236px\" \/><\/p>\n<p>Now, we can move all object to the &#8220;Cut&#8221; layer and join the elements with the command [O,G].<\/p>\n<p style=\"text-align: center;\"><div class=\"\"><a href=\"https:\/\/dyor.webs.upv.es\/laser\/bPED_face_simple.dxf\" target=\"_self\" class=\"emd_dl_green_dark\" download>DYOR bPED Laser Cutting face<\/a><\/div>    <style>            \r\n    .emd_dl_green_dark {\r\n        -moz-box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        -webkit-box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        box-shadow:inset 0px 1px 0px 0px #caefab;\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #77d42a), color-stop(1, #5cb811) );\r\n        background:-moz-linear-gradient( center top, #77d42a 5%, #5cb811 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#77d42a', endColorstr='#5cb811');\r\n        background-color:#77d42a;\r\n        -webkit-border-top-left-radius:0px;\r\n        -moz-border-radius-topleft:0px;\r\n        border-top-left-radius:0px;\r\n        -webkit-border-top-right-radius:0px;\r\n        -moz-border-radius-topright:0px;\r\n        border-top-right-radius:0px;\r\n        -webkit-border-bottom-right-radius:0px;\r\n        -moz-border-radius-bottomright:0px;\r\n        border-bottom-right-radius:0px;\r\n        -webkit-border-bottom-left-radius:0px;\r\n        -moz-border-radius-bottomleft:0px;\r\n        border-bottom-left-radius:0px;\r\n        text-indent:0;\r\n        border:1px solid #268a16;\r\n        display:inline-block;\r\n        color:#306108 !important;\r\n        font-family:Georgia;\r\n        font-size:15px;\r\n        font-weight:bold;\r\n        font-style:normal;\r\n        height:41px;\r\n        line-height:41px;\r\n        width:250px;\r\n        text-decoration:none;\r\n        text-align:center;\r\n        text-shadow:1px 1px 0px #aade7c;\r\n    }\r\n    .emd_dl_green_dark:hover {\r\n        background:-webkit-gradient( linear, left top, left bottom, color-stop(0.05, #5cb811), color-stop(1, #77d42a) );\r\n        background:-moz-linear-gradient( center top, #5cb811 5%, #77d42a 100% );\r\n        filter:progid:DXImageTransform.Microsoft.gradient(startColorstr='#5cb811', endColorstr='#77d42a');\r\n        background-color:#5cb811;\r\n    }.emd_dl_green_dark:active {\r\n        position:relative;\r\n        top:1px;\r\n    }<\/style><\/p>\n<h4>Note<\/h4>\n<p>In the basic version of bPED, the LED strip is not created because this LED strip only works with 3.3V.<\/p>\n<p>The basic design is therefore very similar without the LED strip and the Powerbank (replaced with a 9V battery holder to reduce price). As a consequence, the face is 29.8mm shorter and the robot base is 21mm smaller.<\/p>","protected":false},"excerpt":{"rendered":"<p>Sorry, this entry is only available in Espa\u00f1ol.<\/p>\n","protected":false},"author":1,"featured_media":3192,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_publicize_message":"","jetpack_publicize_feature_enabled":true,"jetpack_social_post_already_shared":false,"jetpack_social_options":{"image_generator_settings":{"template":"highway","default_image_id":0,"font":"","enabled":false},"version":2}},"categories":[93,12],"tags":[],"class_list":["post-2408","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-dyor-bped","category-qcad"],"aioseo_notices":[],"jetpack_publicize_connections":[],"jetpack_featured_media_url":"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/DYOR_bPED_QCAD.png","jetpack_sharing_enabled":true,"jetpack-related-posts":[{"id":5411,"url":"https:\/\/dyor.webs.upv.es\/en\/disenos-2d-corte-laser-3mm\/","url_meta":{"origin":2408,"position":0},"title":"2D Robot Designs with Laser Cutting in 3mm","author":"soporte","date":"Thursday March  4th, 2021","format":false,"excerpt":"This post describes different 2D designs made with the DYOR, bPED and qPED robot and all its variants so far that can be used for the manufacture of parts by laser cutting with 3mm thickness. The DYOR robot, together with all its variants, as well as the bPED and qPED\u2026","rel":"","context":"In &quot;corte_laser&quot;","block_context":{"text":"corte_laser","link":"https:\/\/dyor.webs.upv.es\/en\/category\/fabricacion\/corte_laser\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/03\/dise%C3%B1os_dyor_corte_laser.png?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]},{"id":3484,"url":"https:\/\/dyor.webs.upv.es\/en\/robotica-2o-eso-mi-primer-robot\/","url_meta":{"origin":2408,"position":1},"title":"ROB\u00d3TICA 2\u00ba ESO (MI PRIMER ROBOT)","author":"Leopoldo Armesto \u00c1ngel","date":"Wednesday May  2nd, 2018","format":false,"excerpt":"Sorry, this entry is only available in Espa\u00f1ol.","rel":"","context":"In &quot;Blog&quot;","block_context":{"text":"Blog","link":"https:\/\/dyor.webs.upv.es\/en\/category\/blog\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/05\/img8.png?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]},{"id":2575,"url":"https:\/\/dyor.webs.upv.es\/en\/ensamblaje-dyor-bped-laser\/","url_meta":{"origin":2408,"position":2},"title":"Assembly of DYOR bPED with Laser Cutting","author":"soporte","date":"Wednesday January  3rd, 2018","format":false,"excerpt":"In this entry, we describe the assembly of DYOR bPED (manufactured with Laser cutting). Legs and feet 1. Glue the ankle to the robot's foot. 2. Insert the ball bearing inside the hole of the back-side leg part and insert the rivet inside the ankle's hole. 3. Glue the tip\u2026","rel":"","context":"In &quot;corte_laser&quot;","block_context":{"text":"corte_laser","link":"https:\/\/dyor.webs.upv.es\/en\/category\/fabricacion\/corte_laser\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/DYOR_assembly.png?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]},{"id":3496,"url":"https:\/\/dyor.webs.upv.es\/en\/ajuste-dyor-bped\/","url_meta":{"origin":2408,"position":3},"title":"DYOR bPED Calibration","author":"soporte","date":"Wednesday May  2nd, 2018","format":false,"excerpt":"In this post, we explain the calibration procedure for DYOR bPED robot. Assembly of DYOR bPED robot might be misaligned with respect to the home configuration. If the misalignment is not too much, we can use the following calibration procedure so that we can adjust the correct angles by software.\u2026","rel":"","context":"In &quot;DYOR bPED&quot;","block_context":{"text":"DYOR bPED","link":"https:\/\/dyor.webs.upv.es\/en\/category\/robots\/dyor-bped\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/05\/servo_axis.png?resize=350%2C200&ssl=1","width":350,"height":200,"srcset":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/05\/servo_axis.png?resize=350%2C200&ssl=1 1x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2018\/05\/servo_axis.png?resize=525%2C300&ssl=1 1.5x"},"classes":[]},{"id":2395,"url":"https:\/\/dyor.webs.upv.es\/en\/presentamos-nuevos-modelos-en-el-ce-marni\/","url_meta":{"origin":2408,"position":4},"title":"Presentamos nuevos modelos en el CE Marni","author":"soporte","date":"Saturday December 16th, 2017","format":false,"excerpt":"Sorry, this entry is only available in Espa\u00f1ol.","rel":"","context":"In &quot;Noticias&quot;","block_context":{"text":"Noticias","link":"https:\/\/dyor.webs.upv.es\/en\/category\/noticias\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/IMG-20171214-WA0012.jpg?resize=350%2C200&ssl=1","width":350,"height":200,"srcset":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/IMG-20171214-WA0012.jpg?resize=350%2C200&ssl=1 1x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/IMG-20171214-WA0012.jpg?resize=525%2C300&ssl=1 1.5x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/IMG-20171214-WA0012.jpg?resize=700%2C400&ssl=1 2x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/IMG-20171214-WA0012.jpg?resize=1050%2C600&ssl=1 3x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/12\/IMG-20171214-WA0012.jpg?resize=1400%2C800&ssl=1 4x"},"classes":[]},{"id":854,"url":"https:\/\/dyor.webs.upv.es\/en\/diseno-cad-2d-dyor\/","url_meta":{"origin":2408,"position":5},"title":"2D QCAD Design of DYOR robot","author":"soporte","date":"Wednesday February 22nd, 2017","format":false,"excerpt":"In this entry we will show how to design the DYOR robot, step by step, using QCAD. Our proposal for DYOR robot is as shown: We will start by using the template file and the CAD files with all components: Let's start by creating a polyline in the \"Cut\" laser\"\u2026","rel":"","context":"In &quot;corte_laser&quot;","block_context":{"text":"corte_laser","link":"https:\/\/dyor.webs.upv.es\/en\/category\/fabricacion\/corte_laser\/"},"img":{"alt_text":"","src":"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/07\/dyor_completa.bmp","width":350,"height":200,"srcset":"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/07\/dyor_completa.bmp 1x, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2017\/07\/dyor_completa.bmp 1.5x"},"classes":[]}],"jetpack_likes_enabled":true,"_links":{"self":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts\/2408","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/comments?post=2408"}],"version-history":[{"count":3,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts\/2408\/revisions"}],"predecessor-version":[{"id":7432,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts\/2408\/revisions\/7432"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/media\/3192"}],"wp:attachment":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/media?parent=2408"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/categories?post=2408"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/tags?post=2408"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}