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Simple Cycloidal Robot Leg for Quadruped

Triple Cycloidal Brushless Actuator
25:1 Ratio

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Start of the simplified 3D Printed Quadruped using 12x  triple (single stage) cycloidal gearboxes with brushless motor and a custom controller.

YouTube videos and logs for updates. 

  • Stronger Thigh Bones

    Paul Gould4 days ago 0 comments

    I printed one at 95% infill and it is holding up ok so far. But before I print another four legs I wanted to make sure I made the first leg as strong as possible (with my cheap 3D printer).

    3D printed plastic is better under compression than tension.

    As the gearbox outer housing will be under tension, I wanted to preload the housing.

    Things I looked at

    • Carbon fiber / Nylon / PETG / PC filament
    • Making a groove and Stopping print 1/2 way into  the printed to insert steal wire or carbon fiber/ Kevlar tow. Using epoxy to make it rigid

    I decided on making grooves on the outside and putting yellow braided zero-stretch fishing line.

    As I didn't want the line to split though the 3D printed layers, I coiled the groves on a ~5deg coil angle.

    The line is tighten by twisting the line. May try two lines per groove.

    I will also try multi-strand nylon stainless lure line.

    End View

    Bottom

    CAD

    CAD end

  • Broken Knee

    Paul Gould10/31/2019 at 14:26 0 comments

    I forgot to "zero" the knee before starting the inverse kinematic testing. It was the first day on the leg test jig.

    Gears have 85% ABS infill, housing has 50% ABS infill. I will have to add the joint absolute encoder back into the system.

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Discussions

Dan Maloney wrote 10/02/2019 at 15:17 point

I sense a robotic dog in the works. Looking forward to more details.

  Are you sure? yes | no

Paul Gould wrote 10/03/2019 at 15:01 point

Yes it will be some sort of Quadruped. I'll update more shortly.

  Are you sure? yes | no

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