Petunia Build Report

Petunia is a large robot, and its build presents some interesting challenges!
 
As alway, start with a detailed CAD of what we intend to do.  Using CAD programs is fun!
The frame pieces are too large for me to make myself so I got the cut for me on a waterjet machine.  Once I got them they had to be modified.  Here I am cutting a recess for one of the bearings in the drive train.
Here is the bearing pressed in to the inner rail.  Petunia has 16 such bearings.
My little mill working hard to cut another bearing recess.  Luckily my friend Pete of Team Cosmos let me use his mill for a lot of other stuff, as mine is just too small to do much of the work.

 

Here is the front mount for one of the drive motors.
After much drilling, tapping, and countersinking (about 150 holes), the frame is taking shape.
The completed frame, along with the axle for the weapon.  It's starting to come together now!
The chunk of pipe I got for the weapon is exactly twice as long as it should be, so I have to cut it in half.
A sawzall does the job without too much fuss, even though the walls of this tubing are 1" thick.
Done.
As usual, building pieces of the drivetrain is the next order of business.  8 shafts, six spacers, and miscellaneous other parts.