Hey everyone, im new to this forum and it seems like it will be a great resource. I’m a senior mechanical engineering student beginning to start working on a mechatronics project to build a robot. Myself and four other engineering students are planning to build a quadrapod robot.
Tentative plan is to purchase the following:
-Quadrapod Body Kit - Mini
-2DOF SES legs (4 legs total)
-8 servos
-micro-controller (TBD)
Some of the questions i currently have:
I’m trying to get a full 3D CAD model put together for the design. Ive downloaded all the individual part files for the 2DOF-SES legs, (ASB-04, ASB-11, HUB-08, AT-02, and REC-06) but the assembly file on lynxmotion is for solid-works and im using Pro-E. Does anyone on here have an assembly file thats compatible with Pro-E? That would save me a little time, otherwise ill just assembly the components myself i guess…
What are the cheapest servos that i can get away with using? We are kind of on a tight budget currently, so i’ve been looking at the HS-422 servos but they are a little pricey when we are looking to get 8. I can get a good deal on 8 Futaba S3003 servos and would like to know if these will do the job? Assuming they will fit into the SES legs also?
I’m personally not getting too involved in the programming aspect of the project, but more so the overall mechanical design. (3 of the other guys are buying the micro-controller and doing all the programming). If anyone can help me out with my questions above that would be great. Also please feel free to express any additional comments or concerns that I may want to consider.
building a 2dof quad sounds interesting.
im a bit concerned about the amount of “freedom of movement” you will get from 2dof?
but i guess your not worried about this as like you said you wont be handling the programming.
i cannot help you with the CAD format you require but someone here may come to your rescue.
anyway, down to the mechanics:
i would try and push you to order yourself some HS-485HB (83 oz. in.) Standard Servos for this project. but you may get away with using the 422’s. i appreciate you have a budget, as i do too 'but i have learned that you get what you pay for when it comes to servos.
i would also look into trying other cheaper servos that fit your budget to test and see what works best. im not sure how well the S3003 servo perform so i will leave that one up to you.
you can find some really good deals to keep looking… ebay?
different leg designs will have an effect on how it performs and also the amount of load you put on each servo. do you have an idea in mind?
Looking for a .step or .igs file, but even a fully dimensioned 2d drawing would be enough for me to model it in Pro-E.
Please let me know if anyone can help!
We wrote code to walk forwards/backwards and make 360 degree turns and it works pretty good for a 4 legged robot. Now we need to get our distance sensor programmed and we will have some feedback.
the project looks good. any videos yet?
i would suggest that the front coxas are rotated 180º to mirror the back as i feel they my hit the boards when the legs rotate too far back.
Yeah so far they are working great. Seem to have plenty of torque, although i havent added too much weight other than batteries in the middle of the chassis…
Yes, it definitely would have been cool to use the 3DOF legs but we had no funding from our university for the project, so I had to pay for everything out of my pocket and that would have just added 4 more servos and more expensive SES legs. (Im already a poor college student to begin with!) Additionally, we had to write all our own code for this and being mechanical engineers programming is not really my cup of tea, so i thought controlling 2 servos per leg versus 3 would simplify things a little. We only had like 2 months to complete this along with all of our other course work…3DOF would definitely improve stability
