Jealous does not begin to cover it...
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.
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?
Are you at trossen? Something about that table looks familiar.
What distance along ground are you getting from center to tip?
With 60kgcm I'd expect 20 cm for 3 kg of 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.
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:
For a given weight W, the distance between the two joints has no effect on the torque at those joints.Code:W↓ .---------------------. / \ / \ ↑W/2 ↑W/2
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