Now that you point it out, I can see that it is important to make the calculations easier. but it is only to test out the approach and get a feel for the mechanics and code. Keep in mind that the real length of the servo arm is the length of the diamond side. Thanks for the magic-insight: You only have to worry that it must be a parallelogram between the servo arm and the femur side of the the diamond(paw). So far everything is coming along nicely.

right now I am planning on L & P to be identical in length and form a 90 degree angle with the 5Bar © Right now I am focused on the basics of getting the leg to work with the 5Bar technique:ġ) did you find any suggested/magic ratio for the separation between the 2 servos?Ģ) did you find any suggested/magic length ratio for the 'control arms' the lifters (l1) and (p1) ? I am reading old posts to see what you all discussed. I believe this will be enough for the actuation, and provide rigid stability against wobble.

The hinge will be 3D print and the pin will be a small nail (clou). I really like that the leg joint is supported directly at the chassis, and not completely at the servo.įor this leg I am going attempt using a 'hinge' type joint. Simple solutions, using commonly available (affordable) parts. I think a lot of my design principles are similar to others in the forum. Perhaps in trying to repeat the progress we all learn something new and innovative. I would think of this as a 'peer review' process. I am going to attempt to repeat his work using my own style.

I am truly inspired by Oracid's development of quadrupeds.

Moi3d set flat direction sweep