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Thread: OKQ1: 4DOF MX Quad Mech

  1. Re: OKQ1: 4DOF MX Quad Mech

    Jealous does not begin to cover it...
    ---
    Personal blog: http://xevel.org
    USB2AX documentation: http://xevelabs.com

  2. #32
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    Re: OKQ1: 4DOF MX Quad Mech

    More and more parts have been arriving in the mail. I now have all the abs parts along with the nuts and bolts to assemble the legs and chassis.

    First leg assembled sans final leg segment (tarsus).


    Assembled leg next to the ax-12 prototype chassis.

  3. #33
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    Re: OKQ1: 4DOF MX Quad Mech

    With only a few tweaks to the dimension and servo direction defines the code written for the prortype 4dof robot is running flawlessly on the now assembled OKQ1.


  4. #34
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    Re: OKQ1: 4DOF MX Quad Mech

    That looks awesome, can't wait to see it standing on its own four feet!

    Probably not much of an issue for Mech Warfare and so on, but what's the power consumption like?

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    Re: OKQ1: 4DOF MX Quad Mech

    Are you at trossen? Something about that table looks familiar.

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    Re: OKQ1: 4DOF MX Quad Mech

    Quote Originally Posted by darkback2 View Post
    Are you at trossen? Something about that table looks familiar.
    I was there on that particular day.

  7. #37

    Re: OKQ1: 4DOF MX Quad Mech

    What distance along ground are you getting from center to tip?
    With 60kgcm I'd expect 20 cm for 3 kg of mech?

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    Re: OKQ1: 4DOF MX Quad Mech

    Quote Originally Posted by jwatte View Post
    What distance along ground are you getting from center to tip?
    With 60kgcm I'd expect 20 cm for 3 kg of mech?
    I am not sure what you are asking exactly.

  9. #39

    Re: OKQ1: 4DOF MX Quad Mech

    Another way to ask the question:
    When walking, what distance do you keep between two opposed feet touching the ground? What's the "span"?

    The reason I'm asking is that, with 60 kgcm torque, about 20 cm / 3 kg seems like the right trade-off. And, because the worst-case torque is edge to center of mass, it's the distance from the center to the furthest tip/foot touching the ground that matters the most, if I understand the calculations right.
    Thus, I estimate 20 cm from center of mass to foot touching ground, or 40 cm from front-left to rear-right foot touching the ground. But I could be totally off and not understand the math, so knowing what measurement works for you would help me check that math.

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    Re: OKQ1: 4DOF MX Quad Mech

    Hey Jwatte, see this thread for why you're calculating the torque wrong: http://forums.trossenrobotics.com/sh...e-requirements

    Basically, the length of importance is the distance between where the foot touches the ground to the shoulder joint.

    To illustrate with simple statics:
    Code:
                W↓
      .---------------------.
     /                       \
    /                         \
    ↑W/2                       ↑W/2
    For a given weight W, the distance between the two joints has no effect on the torque at those joints.

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