Um, Jim here… I split this off another topic.
Hi Jim,
Do you remember this (from another thread):
I got a start on it, but didn’t make much progress. I will try to post an image of it soon. 
Hrmm… some kind of 3D solidworks/cad-drawing here should be nice…
This sounds interesting. DO you have a link to pictures of the reference parts, bioloid frames? I am slowing getting back into robitcs with my 10 year old and have been checking out all the new stuff that is around. I would be willing to build up some 3D models showing what you are thinking of with Lynxmotion parts.
Cheers,
I have an assembly that shows some potential, but I’m swamped with a few more interesting and less demanding projects at the moment. For now I’m interested in seeing others ideas here, so if you have some ideas go for it.
This idea comes from some of my earlier designs, for an animatronic project i was planning on starting in a month or so.
The device allows for 3dof on a common axis.
The idea is to have pulley cables that turn each axis controlled by servos further down the body.
Just thought id share it here due to the nature of the thread.
it could be true to say, that by adding a smaller LPA-01 (Low Profile Axis) plate could then allow for ultra small servos to be added to each axis? 
Been looking at the design (if of interest to others) and i have made a few structural fix’s. The assembly is far more stable and stronger.
Hi,
For a couple of days ago I got an idea of how to solve this issue using standard available SES parts! 
I’m using an ARF-01 just for the proof of concept. Using an ARF-02 might work better. I’m thinking that the feet should have some more holes placed further back for mounting the ASB-09 bracket.
Start by mounting a BBH-01 ball bearing hub on the ASB-09 C-bracket:
Notice that I had to shorten the standard screw a little for avoiding mechanical conflict inside the BBH-01. Jim, do you have shorter screws?
Next step is to mount an ASB-04 bracket to the other side of the BBH hub:
Ideally I should have a metal hex standoff that is about 11mm long, is that available?. I used some small plastic hex standoffs that that came with a SES Electronic Carrier and using a nut on each side for the correct distance between the ASB-04 and the ASB-24:
Another view:
There is a little problem using the ASB-24. At first I was almost turned crazy because there was something that just wasn’t correct. When I tried to attach the servo into the ASB-24 bracket the servo horn would align perfectly to the ASB-09 C-bracket. After a little time I got it… This picture should tell you why:
I didn’t know that the distance between the SES holes doesn’t correspond to the servo axis. Anyway, this is just a minor problem that can be solved in many ways like additional holes on the ASB-04 or the ASB-24 bracket. For this prototype I didn’t do any modifications. Here are some final pictures of the 2 DOF join with common axis:
I believe this solution has a very similar functionality as the robotis/bioloid 2 DOF. What I like is that this gives a compact 2 DOF joint that could work as an ankle or hip on a biped. At this moment I’m very motivated to start with a new project; a full humanoid biped SES based using the 5990’s. Sadly this mean I’ve to put MorpHex an a hold.
Any comments?
very nicely solved. might have to try this.
might i add:
Is it posible to add a 3mm Ball Bearing with Flange as shown. think this might make it more stable?
maybe the longer Steel Socket Head Screws - 3/4" x 4-40 might allow for this?
Hi Jonny,
The BB was an excellent suggestion for making it even more stable. I’ll try that too.
FYI, I’m using a 3mm screw on the BBH. The metric ones is better for fine-adjustment. And I’ve plenty of longer ones too.
EDIT: the locking nut might cause a conflict when adding the BB though. Oh, another thing. There might be a problem using the BB if the modifications are needed for adjusting for the servo axis (the ASB-24 problem I mentioned)
First off I must commend you on your creative thinking on this. I’m almost glad I didn’t post my prototype images. lol I think the only real solution is for me to make an ASB-24v2 with the holes aligned properly. I have no reservations in doing this. I struggled with that issue for a while before I decided the share the hole on the two SES hole patterns. I’ll be in touch.
Thanks, I’m glad you liked it Jim.
Well, I’m afraid an ASB-24v2 with aligned SES holes on the bottom part will just make the problem even worse since the SES hole patterns on the ASB-04 isn’t aligned too. You see, the extra holes on the ASB-24 needs to be placed like this (the yellow dots):
The ASB-24 bracket needs to be moved a little upward (the red arrow indicate the direction).
Ok?
Doh! Slaps forehead… Let me build it up and see what I can do.
Can you use a longer ‘C’ bracket to move it up?
Alan KM6VV
No. An ASB-10 won’t do any good.
Or do you mean a customized C-bracket?
I was only thinking of an ASB-10, in an attempt to move the ASB-24 up and away from the foot (my understanding of your request).
Alan KM6VV
This is an interesting thread, great job on solving this problem as shown in the attached pics…
One of the things that attracted me to Bioloids were the fact that they had this implemented in their biped…
Jim, are thinking about making a single piece version of this, or are you planning on just kitting the parts necessary to make this joint?
The illustrations Kåre has made are close, but not really doable. I have decided to make two custom brackets, ASB-04I and ASB-24I that will remove the offset. The I stands for Inline and it refers to the SES holes lining up with the output and pivot holes on the servo. They will not work in a lot of assemblies that the ASB-04 is used in now, but it will make this joint work very well. I’m on it.
Ah!
That was exactly the solution I hoped for! This would solve this issue just perfect. Do you think its possible to have all the 4 small holes in the SES pattern on the bottom of the ASB-24I too? Then you are able to use 3 spacers to hold the two brackets together (more solid).
Yep!