I’ve been working on various designs for a 3DOF leg for WALTER. There will be a steerable gearhead motor and wheel at the end of the leg. It’s become quite clear that this much weight can not be lifted with the HS-645MG servos. Right now, I have three HS-645MG servos in the leg.
Would the HSR-5980SG or HSR-5990TG servos be able to lift this much weight? I want to be sure this would be possible before I spend over $100.00 per servo, since it looks like I may need two per leg.
8-Dale
Not easy to answer without a better understanding of what the assembly looks like.
Here are a couple of pictures. I just removed the motor and attached a foot to the end, so you will have to use your imagination a bit. 
8-Dale
You could use metal stand-offs to exend the angle bracket. No?
I thought of that, but it won’t work any better than what I have now. The problem arises when the long “C” bracket is fully vertical. There is not enough offset in the offset bracket to keep things from hitting. The tubing part of the assembly should be fully vertical when the leg is fully retracted.
8-Dale
