UPDATED LEG FOR QUADRUPEDAL ROBOT DESIGN 583173 3D Printer Model
The file 'UPDATED LEG FOR QUADRUPEDAL ROBOT DESIGN 583173 3D Printer Model' is (stl,3dm,UPP) file type, size is 9.1MB.
The file 'UPDATED LEG FOR QUADRUPEDAL ROBOT DESIGN 583173 3D Printer Model' is (stl,3dm,UPP) file type, size is 9.1MB.
The joints in the original design for http://www.thingiverse.com/thing:583173 were underpowered.
This experimental alternative has geared joints (1:5) and an alternative foot design for more clearance but makes use of the same servos for now (see comments in the code below).
I stress: this is experimental. Will it have enough power to walk properly?
There is a video of it with one geared leg working and the new foot and gears here:
and this is with the old foot and gears:
This video is just for demonstration. Later, the articulation can be broken into more steps to make the motion smoother. What you see in the video of the new foot is simply:
void setup()
{
myservo_hip.attach(2);
myservo_knee.attach(3);
}
void loop() {
// HIP 90 = VERTICAL 0=FWD 180 = BACK
// KNEE 0 = VERTICAL 160 = BACK
// HIP SERVO = D1501MG
// KNEE SERVO = DSS-M15S
//straighten
myservo_hip.write(0); myservo_knee.write(30);
delay(syn0.5);
//strike back
myservo_hip.write(70); myservo_knee.write(0);
delay(syn);
myservo_hip.write(150); myservo_knee.write(0);
delay(syn);
myservo_hip.write(180); myservo_knee.write(150);
delay(syn);
//strike forward
myservo_hip.write(0); myservo_knee.write(160);
delay(syn1.2);
}
The design is experimental because I am still working on the best compromise between the gearing and speed and it will take me some time to print enough legs to experiment properly!
I haven't assembled the whole robot yet. It may still be underpowered.
In the meantime, all parts for the whole 4 legged robot with current configuration are included here, along with the Rhino file, to assist in modification of this design.
| anhle_tendon_pivot_x1.stl | 1.4KB | |
| ankle_x2.stl | 87.5KB | |
| BIPEDAL_ROBOT_V2.3dm | 9.6MB | |
| bracing_lower_x2.stl | 76.7KB | |
| bracing_x1.stl | 4.4KB | |
| CHASSIS_ADAPTOR.3dm | 114.7KB | |
| CHASSIS_ADAPTOR.stl | 243.8KB | |
| CHASSIS_x4.stl | 4.0MB | |
| foot_x1.stl | 148.1KB | |
| HIP.stl | 2.6MB | |
| HIP.UPP | 278.1KB | |
| joint_cap_x2.stl | 832.2KB | |
| PRINT_SET_1.UPP | 408.1KB | |
| PRINT_SET_2.UPP | 290.8KB | |
| spacing_x2.stl | 30.2KB | |
| v2_FEMUR_GEARED.stl | 2.4MB | |
| V2_femur_to_knee_converter.stl | 1.5MB | |
| V2_FIBIA.stl | 615.7KB | |
| V2_joint_CRADLE.stl | 2.8MB | |
| V2_JOINT_GEAR.stl | 1.3MB | |
| V2_JOINT_HINGE_DRILLING_GUIDE.stl | 202.2KB | |
| v2_JOINT_HINGE_WASHER.stl | 184.3KB | |
| V2_TIBIA.stl | 2.4MB | |
| V2_TIBIA_GEARED.stl | 2.5MB | |
| v3_FOOT_x1.stl | 846.0KB |
