youtube.com/watch?v=7oVaMQmF … re=related
looks like SES brackets!
Another great quadruped project in construction, check this out: roko.ca/tag/quadruped
Can’t direct any image from his site to this forum (don’t know how 
)
Holy Quadrupeds! 
That’s custom down to the aluminum bones!
Very nice. Looking at the pictures I can’t see how those motors are going to drive the legs. I assume there’s going to be pinion gears but I don’t see any as of yet.
Nice find. 8)
I think the author is powering the quad direct from motor (not servo 
) and some gears and pinions. Hence the aluminum and high precision cut.
It’s going to be a good watch topic, though he mentions the project timeline is 10 years!
Glad you guys like my project 
The motors are 1:166 gear motors themselves, providing a nice amount of torque at a decent speed. I’m using delrin miter gears to make the 90 degree transition between the motor axle and the leg axle. Those are 1:1 ratio for the two motors in each leg, and a 2:1 ratio for the motors in the base that swing the entire leg. I took a quick photo to show that detail, though it’s not done yet, as I’m still thinking of a way to mount the delrin gears to the shaft reliably. (A set screw doesn’t work, as the delrin isn’t hard enough and the set screw slips under load)
Here’s a picture of the gear arrangement: roko.ca/gallery/main.php?g2_view=core.DownloadItem&g2_itemId=294&g2_serialNumber=2
(Sorry, I just registered so I can’t post a real link/picture yet)
I’m planning on sending out my motor controller PCBs this week, so hopefully in a month or so I’ll be able to get one leg running to test if the delrin gears will be strong enough… If not, I’ll be forced to pay for brass gears instead.
Hopefully I’ll have the entire robot walking sometime this year 
That was fast. How did you figure out I posted your link here? Anyway, great design you have there.
Anyway, tried to post the picture, still fail.
http://roko.ca/gallery/main.php?g2_view=core.DownloadItem&g2_itemId=294&g2_serialNumber=2
No idea why it didn’t work. By the way, what material are the delrin gears made off? You had quite a thick aluminum ther and those motors look heavy. Maybe you want to consider similar gear with coarser teeth? Or perhaps worm gear?
I was bored and looking at my site’s stats… It tells me where people link from. Creepy, huh?
Delrin is the material itself, it’s a very tough plastic, so it should be able to handle quite a load. Unfortunately with the spacing of the gears, and what’s available with a 3mm bore, those gears are the only size that will work with this design. I chose a gear that is available in both delrin and brass, so it should be a straight forward task to swap them out.
Have you taken a single leg and done any stress testing on it? I don’t think the plastic gears will handle the load for long (the small tooth size might result in low strength issues). What is the expected total weight of the bot?
I haven’t yet stress tested the gears, as mentioned above I’ve still got a bit of work to do before that, but it’s definately on the short list.
I’d have to check the design on my other computer, but IIRC the overall targeted weight is a bit over 1.5 KG, though less than 2 KG. A bit hefy with all the aluminum, but it sure does look neat.
One thing to note is that most hobby servos used in similar walking robots use plastic gears of finer pitch than the Delrin one’s I’m using at the final stage… So I think there is a chance these gears will hold up, but as mentioned I need to abuse them a bit before I make the call on whether to leave the Delrin gears in, or get brass gears instead.
If the teeth have very close alignment tolerances, then they may hold up. Are coarser pitch teeth available in the same diameter?