Hey Kåre! Could you look these over. I think I got it right. I will send for part samples tomorrow. Thanks, Jim
Beth please add the dimensioned drawings here. 
I will post more information tomorrow. I ran out of time.
Wow, it doesn’t look like you’ve had any vacation… 
I’ve to check this tomorrow, its getting late…
I also need to do some inch-mm conversions.
Btw, the parts look great!
Hi Jim,
I’m at work right now, so I can’t check the dimensions until later this evening.
I’m just wondering, are you planning to use the same SES solution as I did for the 3 DOF neck? If so, I’m not sure if you are able to get full rotational motion inside the body due to limited space between upper and lower body plate. Any thoughts?
I assume you are going for double femurs too, it looks like that since you placed two holes for spacers? The hole closest to the femur servo might cause a conflict, not sure. I need to do some measurings.
I’ll be back…
Hi Kåre,
The rotation will not use a “C” bracket, but instead an aluminum servo horn with a HUB-17 (1/2" spacer). The chassis has a 1/2" opening to support the hub. It should be plenty strong. I am concerned about the middle horizontal servos. I used the new 3" x 3" board layout, which created a bottleneck. I think I can get a full +/- 45 degrees. Will that be enough? The builder has the option to put the battery in the tail and the electronics in the body, or vice versa. The material is lighter than ABS, and I’ve lightened them even more. The original look will be accomplished with vacuum forming very light material, say 0.040" PETG.
The double femer design has two holes. For strength you could install both with a slight limitation in movement, or just use one hole for maximum movement.
I plan to implement the sensors on the mandibles, but will do that after I get the parts, so I can get a better feel for how to do it.
I’m not sure if it’s important, but I don’t know if you made the tibia’s so that, the tip of foot to the servos axis point is vertical with a servo output offset to 15 degrees. I plan to incorporate a ground detection foot for this as well.
Hi Jim,
I’ve marked red with corrections to the dimensions that was different from mine:
I’m not sure if there is much to do with the difference in the horizontal coxa distance…
This was a huge difference. How are you planning to make the 2 DOF joint for the tail? There is a risk of burning the vertical (tail pitch) servo if the tail gets to long.
Overall pretty similar to mine.
Ah, the HUB-17 was interesting! Looking forward to see more of that.
Under normal conditions the +/- 45 deg should be sufficient. My A-Pod have +/- 50 deg for the middle legs, so its not that big difference. The lost 5 deg can be visible under extreme forward translation combined with body rotation. Could one option be a 3"x3" board in the tail and the SSC-32 in the body?
I had to do a very simple paper on monitor test just to see how the leg will work… 
It looks like the hole closest to the tibia (not the femur servo like I said before) might get in conflict. Using only one hole should be sufficient with a strong spacer.
I’m not sure if I get what you mean by the 15 deg offset? If you look at the dimension there is a little difference in the tibias. Mine are not curved so much outward.
Hi Kåre,
I’m glad I waited for you to look them over.
Ok, I can fix the tibia to be the same as yours. No problem there.
The additional length of the horizontal coxa will be called a performance enhancement, a wider stance will have more stability. 
Yeah there’s nothing that can be done there.
I’ll dismiss the 5.2mm difference in the mandibles. Lets call it close enough. 
I can shorten the tail. Not sure how I got that far off. I know what you mean about the tail, especially if a battery was placed there. If a battery is put there it will have to be balanced with a spring. I think it can be done, but it will be a condition that will need to be monitored.
I will lengthen the tail pivot on the chassis a tad. Can’t hurt to get a little more space from legs to tail.
I did a test in the drawing software, I should have included them here. The leg will fold completely if only the lower standoff is used. I.e. the tibia will contact the vertical hip servo.
The thing about the offset. I meant when it comes time to do a calibration, do we need to pull the servo off the tibia and rotate it 15 degrees like the Phoenix? But I just looked and the A-Pod tibia has the end much closer to the axis point then Phoenix does. So never mind. lol
Thanks for the help. I can get a prototype together in about a week, depending on the turnaround from the laser place. Thanks again, Jim
Sounds good Jim! Looking forward to see the prototype.
I’m curious on how you are going to solve the foot switch and the sensor on the mandibles.
Oh I forgot to ask. What are the proper angles for the SES hole pattern on the four corner legs on the top chassis plate? I need that before I can send off for protos. 
Hi Jim,
I assume you are referring to the coxa offset for the front and rear legs?
Anyway, its 45 deg.
Thanks! 8)
Update… I am expecting to receive the legs and the body panels today and tomorrow. I have designed a new set of leg parts that will have the same ground contact switches as the T-Hex ones I provided to Kurt and Jeroen. I have a very good feeling about this design. I will try to get images posted.
I tried to use the proposed 3" x 3" board design on the body and tail. The body fit was ok, but it did restrict the middle legs to around 45 degrees. The tail was a little too wide… I think I have abandoned the 3" x 3" board idea.
Sounds good Jim!
Looking forward to see your leg with switches.
Yeah, the 3x3" board seem a bit to large, especially on the tail.
I can second that! the leg switches are very reliable!
Good design!
Xan
I have refused to post any more teasers on this. It’s taken far too long. As far as I can tell we should be releasing A-Pod Thursday.
Sounds good Jim!
EDIT: There should be a warning if your post force a new page on the thread, good to know if you are not quoting.
Personally I think it would be a great time for another teaser, but…
I was glad this morning to see that there is now an order page for it up on the main site So it looks like you are close!
Kurt