i currently have a scout with 12 5645MG’s in it, and i would like to make the move to a hex to have a go with kinematics, sensors, etc…
i have 2 questions i am hoping to get a bit of feedback on:
1/ i was planning on buying another 6 645 servos, for a total of 18 in a hex, and use the 645’s as the lateral (in the body) joints, and the 5645MG’s in the legs, would this be the best arrangement for them? -it strikes me that they would be the least loaded servos, and that having all the same joints using matching servos would probably be ok, even if all 18 were not the same.
2/ i was initially really taken with the ch3r, but i’ve been playing with the scout so long there is now another option available in the phoenix, which also looks really nice, but possibly a little less sturdy than the ch3r, they both seem to have space to mount sensors, so would you say that the phoenix’s slightly frailer looking body would be an issue for payload, or will my servos be the limiting factor?
645s should be more than enough power for the coxa joint. The only real rule that I follow is to keep the servos the same across a single joint location. i.e. all coxa/hip servos are of the same type, all femur servos are of the same type, etc. Also, I would imagine that the CH3 would be able to lift more than the phoenix because of the design.
Most people who have the pheonix use the following setup
18x 645’s or
12x 645’s and 6x 475’s in the coxis joints “right on the body to make the legs sweep forward and reverse”
Using the 12 and 6 setup which most people have including myself, it works just fine as the servo’s to make the legs go forward and backward don’t really need to be as strong as 645’s , 475’s will work fine.
Your servo’s are I believe quite a bit better then the 645’s … 163 oz/in vs 133 oz/inch
you know you might as well just get another 6 5645mg’s as they aren’t that much money over the price of the servo… 2 cents…
you can get away with using 475’s “much cheaper” in the coxics rather then 645’s “which is what a lot of people have” that is unless you plan on putting a significant payload on the robot?
Might as well get 6 more 5645’s!
it is quite strong when its on and standing there when you try and push it down.
The HS-5645 digital servo is an HS-645 with a different electronics control board. I would not want to waste the power (and cost) on the coxa joint if I were building a Phoenix. as a general rule, side to side motion won’t require near the power that lifting motion requires.
thanks for the feedback everyone, it is appreciated.
as it turns out i have one 645 i got as a replacement for a gear stripped 5645, so i’d only really need 5 more when i repair the broken one.
i think ultimately i will go for the CH3-R with a view to being able to replace the feet if and when i get to the point where i am wanting to use foot sensors, as apart from colour and feet, the 3 different xH-R models look fairly similar.
thanks again for the comments, it really helps me sort things out
Yes, I finally did get my license! I got my first callsign on December 12th, so I did do it last year as I said I was going to do. I hated my first callsign so got this new one which I am quite happy with. I’m getting a used IC-706MkIIG transceiver I will have next month, so maybe we’ll be able to connect via radio sometime soon.
Glad to hear it! I’ve heard good things about the '706, you should enjoy it. I’ve got an Icom 765, but no HF antenna right now. We could always try for satellite QSO! ;>)
I know what we need now - a robot operated via remote control over a satellite link using Amateur Radio! Heh heh, I’ve actually given some though to using Amateur Radio for robot control and operation. I am hoping to get into some satellite work once I have the 706 and have a decent antenna for HF/6M.
I considered using packet radio to control a 'bot. Hard to carry around a 2M xcvr on a small 'bot. I settled on blueTooth, it’s working fine on two of my bots. About to use it again for new experiments.
Oh, I don’t know… A local Ham gave me a Yaesu VX-2R HT when I got my license so I could get on the air right away. It’s a 1.5W HT, and there is a cable available to connect it to a TNC. Yeah, I’ve been looking at this possibility for the future. I eventually want to get a better HT that can do at least 5W (Yaesu VX-8R), and could see dedicating the VX-2R to a robot and packet. I have plenty of space on the new decks you made for W.A.L.T.E.R. when I get back into working on him. The VX-2R is a dual bander, so I could have it on 2M or 70cm.
That is a small XCVR! I’ve also seen one about the size and thickness of a business card; well, a little thicker…
It would still be to big for my Micromouse or MicroMoose 'bots (about 5" in diameter, and 5" tall). then there’s the TNC to put somewhere. Good luck with that. They’d probably fit on walter.
I am hoping to get into some satellite work once I have the 706 and have a decent antenna for HF/6M.