I printed TheCase's excellent mini-quadruped design, and I love the simplicity of the parts, but I wanted a third degree of freedom in the leg for more complete kinematics, so I slightly redesigned the leg parts.
This also results in a slightly less bulky leg.
For now, I've left off the servo buttons at the coxa joint, but I may go back and add them back in for smoother motion.
If there's interest, I may workup a PCB which carries a Teensy 2.0 microcontroller board and provides power and support for twelve servos.
Update: Video of its first gait!
https://www.youtube.com/watch?v=VsHNA3oLXC8
| assembly.scad | 1.0KB | |
| backbone.scad | 745.0B | |
| backbone.stl | 257.8KB | |
| coxa.scad | 1.4KB | |
| coxa.stl | 70.5KB | |
| femur.scad | 841.0B | |
| femur.stl | 49.6KB | |
| hip.scad | 738.0B | |
| hip.stl | 93.0KB | |
| servo.scad | 752.0B | |
| servo_arm.scad | 336.0B | |
| tibia.scad | 636.0B | |
| tibia.stl | 49.0KB |
![Cable Chain [2020 Aluminium Profile Compatible] 3D Printer Model](https://res.3axis.co/9bc52dde-d937-4d64-b334-e0029b870cad/images/806b1643-b892-491e-90a8-f28d25a07317_thumb.jpg)
