Design and construction an humanoid 60 cm using wck servos

[nicolas gomez offline]

Hii guys !!
here a thesis that presents the mechanical design and construction of the lower half of a biped robot,several unique mechanical attributes have been proposed and implemented such as dual push rod actuated joint articulation. This technique produces a larger joint torque and reduces leg inertia allowing for the implementation of WCK serial controlled servo modules for actuation.

Full robot body


All parts

Ankle


Foot & Toe



Full Leg




Pelvis & Hips




Full lower body



Here the description and documentation
http://mro.massey.ac.nz/handle/10179/2904?show=full
here the pdf
http://mro.massey.ac.nz/bitstream/handle/10179/2904/02_whole.pdf?sequence=1

regards
nicolas

[Captain Lotus offline]

love the idea. i'll follow you on that project.

Did you put some "double wCK" just be avoid weakness or have you calculated the need of two at some locations (knee for example) ?

Will you ever post the CAD files of your pieces ?

[nicolas gomez offline]

:P
love the idea. i'll follow you on that project.

Did you put some "double wCK" just be avoid weakness or have you calculated the need of two at some locations (knee for example) ?

Will you ever post the CAD files of your pieces ?

Hi!!
it's not my project, is of the University Palmerston North, New Zealand,in the pdf file,you can find all the answers,
like measure of torque servos ,inertia reducion,dynamic drift testing of the servos
so far I have not seen the available CAD


regards