Current Mechanical design

A project log for RoDog

3D printed quadruped robot

Wissam TedrosWissam Tedros 06/14/2021 at 23:100 Comments

I think this is what I'll settle for as a final-ish mechanical desgin, it is as compact as I wanted it to be, main body is 20x10x5cm, it has some vibrations, I'm suspecting the backlash in the RC servo, or maybe the non-uniform material? the legs have an 8mm steel shaft and all the surrounding parts are just PLA, so maybe making them out aluminum or carbon fiber might fix this issue, I'm currently simulating some gaits and static motions on Simulink Simscape Multibody, once happy I'm going to apply my control loop to the embedded system I made.