New SES Biped with 6DOF Legs

[LinuxGuy]

I decided to make this a project because I think this is a really cool design with a lot of potential. I got some inspiration for this from the design of the double jointed knee (http://www.robots-dreams.com/2007/04/jumping_robots_.html) that Matt Bauer (http://www.robots-dreams.com/2006/02/robot_builder_p_1.html) designed for the Robonova-1. I took this idea further and made all the joints double for this new Servo Erector Set (http://www.lynxmotion.com/Category.aspx?CategoryID=73) design, so this robot has double jointed hips, knees, and ankles.

This is very much a preliminary design, but I think it's a pretty good start.

Left Leg Standing:
http://forums.trossenrobotics.com/gallery/files/1/6/5/7/6dof_triple_double_joint_leg_left_standing.jpg

Left Leg Crouched:
http://forums.trossenrobotics.com/gallery/files/1/6/5/7/6dof_triple_double_joint_leg_left_crouched.jpg

Robot Front View:
http://forums.trossenrobotics.com/gallery/files/1/6/5/7/6dof_biped_preliminary_front_273169.jpg

Robot Back View:
http://forums.trossenrobotics.com/gallery/files/1/6/5/7/6dof_biped_preliminary_back_267521.jpg

Robot 3D View (http://forums.trossenrobotics.com/attachment.php?attachmentid=248&stc=1&d=1209255077) (Requires Adobe Acrobat Reader v7.0 or later)

I will no doubt make a few changes to this design as time goes on. I have assembled the brackets for the left leg and the body, but I don't have the ASB-11 (http://www.trossenrobotics.com/store/p/3338-Aluminum-Offset-Servo-Bracket-with-Ball-Bearings-Two-Pack-Brushed-.aspx) brackets yet. I've run out of ASB-04 (http://www.trossenrobotics.com/store/p/3331-Aluminum-Multi-Purpose-Servo-Bracket-Two-Pack-Brushed-.aspx) multi-purpose sever brackets and ASB-09 (http://www.trossenrobotics.com/store/p/3336-Aluminum-C-Servo-Bracket-with-Ball-Bearings-Two-Pack-Brushed-.aspx) short 'C' brackets too. I would like to get two Low Profile Assemblies (http://www.lynxmotion.com/Product.aspx?productID=481&CategoryID=87) to add hip rotation. I may replace the ASB-11 (http://www.trossenrobotics.com/store/p/3338-Aluminum-Offset-Servo-Bracket-with-Ball-Bearings-Two-Pack-Brushed-.aspx) brackets with the ASB-09 (http://www.trossenrobotics.com/store/p/3336-Aluminum-C-Servo-Bracket-with-Ball-Bearings-Two-Pack-Brushed-.aspx) short 'C' bracket to bring the legs a bit closer together.

8-Dale

[tom_chang79]

Dale, are you planning on adding a pair of servos for a hip rotate? It definitely will help the bot turn...

[LinuxGuy]

Dale, are you planning on adding a pair of servos for a hip rotate? It definitely will help the bot turn...
Yes, I am. I am considering using two LPAs for hip rotate, but I am not sure how to build them into the design. I've never used the LPA before. I am going to have to model the assembly so I can tinker with that.

8-Dale

[tom_chang79]

Yes, I am. I am considering using two LPAs for hip rotate, but I am not sure how to build them into the design. I've never used the LPA before. I am going to have to model the assembly so I can tinker with that.

8-Dale

Dale, check out this pic from quickster47 from one of the threads on lynxmotion.net:

http://www.thequickster.com/images/IMGP3819.JPG

His use of LPAs are on the CH3-R, but I'm sure you can apply it to your biped...

This use of LPAs are awesome, it essentially buys you another DOF without increasing the length much...

[LinuxGuy]

His use of LPAs are on the CH3-R, but I'm sure you can apply it to your biped...

This use of LPAs are awesome, it essentially buys you another DOF without increasing the length much...
Yes, I see how it can work! :veryhappy::veryhappy: I can easily work this into my design, Tom, thanks.

8-Dale