04/02/2018 at 01:12 •
Like the legs, the shoulders will initially be made from aluminum and later 3D printed to allow the bot to be reproduced easily. For the shoulders, I want two degrees of freedom so the shoulder will have two gear head motors, one for vertical motion and one for horizontal motion and two feedback potentiometers. I’m also shooting for 270 degrees of motion from each joint, horizontal, vertical and also the knee joints. This should allow a great range of motion and should allow the bot to walk right side up or upside down. Once the prototype is built, it is going to be fun to see exactly what the different ranges of motion will be.
03/31/2018 at 14:26 •
Initially, the legs will be made out of aluminum channel and later 3D printed. The image shows the initial leg design minus the holes on the upper leg for the motor wheel mount. The knee will have a gearhead motor and a potentiometer for feedback to the motor drive board. The potentiometer will be used to supply feedback of the knees position. A pressure sensor on the foot will supply a reading of how much force is applied to the foot which will be used along with an accelerometer for the information needed for dynamic balance.