Hi,
I plan to extend my CH3-R with a extra load of 800-1000g (pan&tilt head, camera, bluetooth module, extra battery) and the standard servo configuration 18x Hitec HS-475HB. Is there anybody who test the CH3-R about maximum load capacity?
Greatings
There really isn’t an easy way to list the max payload, because it’s difficult to quantify what level of performance degradation is acceptable. The robot should be able to withstand an additional 1 to 2 lbs. But your mileage may vary. With the added weight it’s possible that you may break a servo gear.
We always recommend you keep the weight to an absolute minimum. If you are adding electronics you can shed some weight by removing it from its case. Just lose anything that isn’t absolutely required.
If you must add the weight I would recommend you get the 645 servos.
I weighted the robot and do some mathematic calculations. The problem is that the result confused me.
Here is the formula for the calculation.
Weight (standard Configuration)
overall 2226g = 2,2kg
Maximum Payload
(Weight/minimum Legs on Ground)lever
Weight = Newton(N)
2,22kg9,81 =21,78N ~ 22N
(22/3)*12 = 88Ncm
12(cm) = the maximum distance from the Body to the Tibia Servo in cm
I use the standard Servos HS-475HB and the maximum torque is by 55Ncm. It seems that the bot is heavy overload. Please provide me with feedback if there is a mistake in my calculations or not.
Greatings
ExMachina
Hi,
Your calculations seem to be ok. But in what case are the horisontal distance 12cm on all legs? You must measure the horisontal distance between the femur axis to the tars (not from the coxa axis). I believe this distance is a bit shorter.
Hi Zenta,
thx for your support but what did you mean with tars. The distance between femur and tibia axis?
Tars = foot (end of tibia).
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