How much can a Chr-3 hexapod carry with 320 oz-in servo’s?
Hi,
check this thread for more informations.
This is the calculation for the payload.
Maximum Payload
(Weight/minimum Legs on Ground)*lever
Weight = Newton(N)
weight of your robot<<<9,81 =>>>Newton<<<
(>>>weight of you robot<<</>>>minimal legs on ground<<<)>>>distance between femur axis and end off foot tibia side<<< = >>>your needed Servo configuration / or better your needed Ncm for the servo configuration<<<
Here is a example off the calculation for my stock CH3-R.
Weight (Standard Configuration)
overall 2226g = 2,2kg
Maximum Payload
(Weight/minimum Legs on ground)lever
Weight = Newton(N)
2,2kg9,81 =21,78N ~ 22N
(22/3)*9 = 66Ncm
9(cm) = distance between femur axis and end off foot tibia side
Change the settings for your robot and you get the maximum payload.
Regards
Matthias
Your math may not work using the servos advertised torque as it’s a holding torque, not an operating torque.
This math only calculates what for a servo setup is necessary for an hexapod, based on the weight of the robot.