K3lso Quadruped (Build thread)

raess · October 22, 2020, 9:58pm

Finally a solution. Ripping away the original driver and replacing it with mjbots driver. (This is how it should work T-motor)

igor_X · October 23, 2020, 7:23am

Good news and happy Friday

raess · October 23, 2020, 12:29pm

Happy Friday @igor_X

raess · October 28, 2020, 2:37pm

First body parts milling is ordered. Now its time to focus on the plastic covers

raess · October 29, 2020, 11:16am

Basic form-design is more or less done. Will add some additional cut outs and minor things. I added some rubber protection cushions at the bottom for resting position.
Also considering switching to chain drive for this version. I am looking at YBN Chain Ultralight Black. Which is 252g for 116L,

raess · October 30, 2020, 12:47pm

Cheetah 3 legs more or less done. Minor design left and some cool plastic covers

cbenson · October 30, 2020, 1:07pm

Impressive render.

raess · October 31, 2020, 9:21am

Thanks @cbenson

raess · October 31, 2020, 11:04pm

Added chain drive. Calculating leg weights. Started design a tiny bit on the

Slowly getting there

raess · November 1, 2020, 1:27pm

So sunday…
Slimming down the weight of the lower leg to 128g.
Calculating Chain weight to approximately 110g with 55links using a KMC - X11SL chain.
Upper leg is approximately 320g ( I will try to get it down to around 300g).
Spockets is around 25g and 20g with 10/14T. This will also add some reduction and more torque for knee joint ratio 1.4.

So today we are at 583g + leg mount + feets.

Today I will finish up the motor mount for the leg and I can have rough estimate on the total leg weight.

I also created a small logo for the project. Happy sunday!

igor_X · November 1, 2020, 3:17pm

Perfect Kelso Sunday

raess · November 5, 2020, 5:51pm

So last couple of days I have been focusing on legs.

I have checked stress analysis for them in order to reduce weight.

I printed a first test for of the upper leg for look and feel aspects.

Wating for chain to confirm CC on spockets.
I went with KMC X11 SL DLC Super Light

I started building a walking trolley / workbench for the project.

igor_X · November 6, 2020, 2:41pm

Nice!

Where did you find these aluminum profiles? Bosch-Rexroth?

raess · November 6, 2020, 5:51pm

I got them From RS components. I think they have their own brand RS PRO.

More leg work and stress analysis. Finalizing leg motor mount.

raess · November 7, 2020, 12:35am

First leg CC dimension failed. 55 links don’t match up to pair (Stupid me)… going up to 56links. I can feel tiny tiny backlash (tensioned with hands and 3D printed sprockets)