Hi all, recently I've been struck by the urge to make a hexapod. So far, apart from general design I've done some basic calculations to determine the torques on each of the joints when the robot is at rest. Here's a simplified cross-section of the robot.
When the robot is at rest, joint 4 should be stressed the most, being the furthest away from the load. When the robot is in motion however, there're two cases:
* Leg is being lifted and moved forward. A less stressful case, the leg should be relatively light compared to the rest of the body since I'm not hanging a kilo off the end of it or anything.
* Leg is on the ground and moving the robot forward. Firstly, during this case joint 4 should still be under more stress than joint 3, right? Second, relative to joint 4, is there a way of getting a ballpark estimate of how much torque joints 1 and 2 will require? Going through the statics was easy enough, but hammering out moments of inertia and so on is something I'm hoping to avoid unless necessary.
A bit more on the design of this robot:
* I'm hoping to use RX-24Fs for joints 1 and 2 due to their higher speed, but if they won't have enough power then there's really no point. I'll also be using brackets with bearings (designed/milled by me) so that the radial load on the servo itself should be minimised.
* Also planning to use RX-64s for joints 3 and 4, with the possibility of bumping joint 4 up to an EX-106+ if so required.
* Power requirements will be huge (especially if I need to use EX-106+s). I've taken this into consideration and am planning for a rather large LiPo pack. And firewalls, should it decide to vent with flame. Different voltages for the -24Fs and -64/-106s has also been considered.
Any thoughts on this would be greatly appreciated.
P.S.: Admin, I wasn't sure whether this should be here or in the Humanoid/Walker/Crawler section, please move if this is the wrong section!