First fully assembled leg prototype!

A project log for NOMAD Quadrupedal Robot

Medium-sized 12-DOF Quadruped Robot inspired by MIT Cheetah and Boston Dynamics Spot Mini

implemented-roboticsImplemented Robotics 02/19/2021 at 18:100 Comments

Very exciting to finally get all the parts in and machining finished so that I could finally fully assemble a prototype leg.  Couple of hiccups here and there but it will be fully usable for performance testing and the initial Shakedown cruise.  Once I fix a few assembly bugs I'll document how it is assembled.

Pictured Below:

Here is the fully assembled leg:

Close up of the in-line chain tensioner mechanism: