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[DPRG] help with 6-legged walking robot
Subject: [DPRG] help with 6-legged walking robot
From: Brian Clough
bclough at banksofthesusquehanna.com
Date: Mon Jun 25 09:16:56 CDT 2007
Francesco:
Shorten the horizontal legs.
Since the horizontal leg doesn't swivel, you don't need to have them
that long. With your design, you get just as much "fore & aft" movement
of the footpads, no matter what the length of the horizontal leg.
If you cut the length of the horizontal leg in half, you cut the stress
on the vertical servo in half. That will double your weight bearing
ability.
You may need to shorten the vertical legs too, to balance the narrower
track.
My walker uses the Crust Crawler chassis, which uses
mechanical-advantage to augment the weight-bearing ability of relatively
weak servos.
http://crustcrawler.com/products/hexcrawler.php?prod=1
Brian
Francesco.Decomite wrote:
> Hi,
> I am trying to build a siw-legged walking robot. No problem with the
> programming part : using Microchip pic4620, I can control effectively 12
> servos, and tested the program with those 12 servos (see picture :
> http://www.flickr.com/photos/fdecomite/526512679/)
> Then I build on leg (picture :
> http://www.flickr.com/photos/fdecomite/526513399/), everything still ok
> The problem arises when I put everything together :
> http://www.flickr.com/photos/fdecomite/539468397/
> http://www.flickr.com/photos/fdecomite/539369120/
> http://www.flickr.com/photos/fdecomite/539483411/
>
> The machine seems to be too heavy, and the servos seem to ask for much
> more power I can give them.
> Any hint on how to control this power demand ? SOme mechanical or
> electronical solution, or at list some pointers ?
> Thanks !
>
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