Hi all,
I just wanted to share with you my to be finished project YDNA2.
It is a biped and uses Erector Set brackets at most of the places.
Some notes:
I could not use the biped torso because I wanted to have two jointed shoulder axis and the torso kits are designed to put the full load on one axis. This might damage the expensive servos so I had to mill a custom chest part.
I used the new (very expensive) HSR5990TG servos (30kg/cm) from Hitec because at least here in Germany the 5995 servos are discontinued. Advantage is: they are excellent! And they have the aluminium servo horn already attached.
To insert these new servos with the standard second axis backpanel I had to drill a large 10mm hole into all multipurpose backet holders. Also I changed the recommended bearing mount procedure and added a plastic waver for increased stability. I can show a detail image if someone is interested.
In the chest there is space and four screws for the SSC-32 and/or Atom Bot board. The robot will be driven by LiPoly cells 7.4V and there is a 6V voltage regulator to down stabilize this for the low cost 6V head servos.
The head is currently a pan head only and will be a camera head with pan/tilt. It uses the HS-422servos. The current head is for the fotos only.
Technical data:
Weight: 2.4kg
Size: 45 cm
Servos: 21 (20 HSR5990TG, 1 HS422)
DOF: 6 Leg, 4 Arm, 1 Head
He has BRUTAL force and can kick you sick. The payload he can carry is enormous, I did not do tests yet. Of course he can stand on one leg and knee down on one leg. Can hop of course. Enjoy!
(I just noticed I cannot post the images, will do it in a second post)
Bad news, I sold this one to a university in Rejikjavic, Island, and have to ship it today. No way to do movements, but I hack in some poses into the SEQ-32 sequencer and let him do them now, this I record with my Webcam and post it later.
Actually two other YDNA2 robots are just being prepared at University Bremen/Dortmund in Germany for RoboCup soccer. I hope to gain more know how to improve the design for the next version, YDNA3
@Jim, thank you. Your work is excellent. Without the Erector Set and your excellent documentation, pics and this forum I would not have succeeded.
A suggestion:
Currently the Servo Erector Set has only functional holes. I suggest you might consider weight reducing holes or shapes as well at some spots.
Video will follow (do not expect too much, I have only 6V batteries, so it lacks 1/3 of the force it could have and it will be shakey.)
cheers
noDNA
I did record some poses, sorry I was not able to tweak things.
He is clapping the hands a bit, poses and to show the power he is standing on one leg while rising his knee and lifting his 2.4kg weight.
He does it without any pain, the servos stay cold. Then a kick and a good bye. All done with 6V only.
Movie is 2.4 MB and requires divx. Hope this is they way the link works, if not cut and past it into your browser.
