I’m fiddling with different SES based 3DOF leg designs that allow more freedom of motion. Here is my first stab at it. It’s using the new 45° bracket prototypes. We should have stock in a weeks or so.
Kåre, what do you think?
This is the first design with a short 1.5" tube.
This is the same design but with a 2.25" tube.
This is a different design, but I think it doesn’t have enough range.
I take it you’ve tried these under power? I’m wondering if templeg5 could actually move out of this position, as there is no direct “lift” of the leg. Maybe I missed something.
Alan KM6VV
Hi Jim,
Great to see the new 45 deg brackets! I got to have some of them to play with one time. 
Do they come in black too?
Alan got a point about templeg5. A better solution for templeg5 is to flip the tibia servo and use a shorter tube but there are still some limitations.
Using the 45 deg brackets on the tibia was interesting. Using the short C-bracket on a vertical femur servo has some limitations though.
One solution is to combine the two designs. Use the tibia from templeg1 onto the femur part on templeg5 and (optional) rebuild the coxa by mounting the femur servo into a 45 deg downward position.
But then again, the real challenge is to make a functional construction (much freedom) and make the design look good too.
Btw: The headline of this thread has a minor typo.
Yes we will have them in black or clear anodized.
Yes that is the challenge. As far as the first two designs. Do you think either of them are close to workable? Or in other words which of the two tibia lengths would you prefer. I can make a 2" long one that might be a better solution, but I want to avoid it if possible. I will also try some of your ideas and post images here.
Typo? I don’t see no stinkin’ typo! lol 
I would prefer the long tibia with the 2,25" tube. Earlier today I was pretty sure that you had a 2" tube but checking your .com site proved me wrong.
Yes, it would be interesting to play with some new brackets. And it looks like you might have included the foot sensor?
Good ideas!
Alan KM6VV
Yes we need a good 3DOF leg that can use the ground contact switch. Of course I’m open to ideas?
Ok over the weekend I made this. It’s basically the last design with the servo flipped over and a shorter tube installed. The range is not as nice as the Phoenix leg. But it’s much better than the old 3DOF leg design. What do you think of it?
I personally like it!
It folds up nice! But I’m still thinking that it has no simple vertical motion available to it. Guess I’d have to build and try it.
Alan KM6VV
Not sure if this is a problem though. I mean the Phoenix leg folds up the best of all designs. It walks the little guy just fine. Not sure what makes this different I guess.
Can i just throw this in. its a design i did in 2006 for another project. Seems the right place to post it.
http://i531.photobucket.com/albums/dd355/innerbreed/3DOF.jpg
it may not offer any more freedom of motion but its a different take on how the brackets might be used… might inspire? :shrug:
Yeah, not saying it’s a problem either, although I’m wondering how it would function. This one looks like std. parts, long C bracket? I may have those already. If I get time, I can try the legs. I might be able to tell by mounting them on the “Creepy Hybrid” (only takes two legs).
Jonny’s leg could work, although it is more sprawled.
Alan KM6VV
i like this design jim. looks nice and snug when curled up. i like that 45º bracket. and the design looks better with an offset bracket.
It looks like this coxa design could work very well. What I like with this coxa design vs the coxa i made for A-Pod is that the femur servo are attached to the coxa servo along its long side. (= more space inside the body).
Is that 45° bracket made by bending the 90° one? or is it a new SES part?
That sir is ASB-07. 8)
On the shelf whenever Beth gets around to it. 
is it a whole new cut design or does it share the same attributes as the ASB-06?
hurry beth! lol 
It’s identical to the ASB-06 except the bend.
