ULTRA Torque RN1 Conversion

[omnizoid]

I am keen to upgrade the legs of my rn1 with some HSR-5995TG Ultra Torque class servos.
With that sort of torque its sure to look make RN1's good at next years robo1!
Does this sound at all feasible?
What sort of mods would be required to make this possible?


Control System: +Pulse Width Control 1500usec Neutral
Required Pulse: 3.3-7.4 Volt Peak to Peak Square Wave
Operating Voltage Range: 4.8-7.4 Volts
Operating Temperature Range: -20 to +60 Degree C (-68F to +140F)
Operating Speed (6.0V): 0.15 sec/60° at no load
Operating Speed (7.4V): 0.12sec/60° at no load
Stall Torque (6.0V): 333.29 oz-in. (24kg.cm)
Stall Torque (7.4V): 416.61 oz-in. (30kg.cm)
Standing Torque (6.0V): 433.27 oz-in. (31.2kg.cm) 5 degree deflection
Standing Torque (7.4V): 541.59 oz-in. (39kg.cm) 5 degree deflection
Operating Angle: 90 Deg. one side pulse traveling 400usec
360 Modifiable: Yes
Direction: Clockwise/Pulse Traveling 1500 to 1900usec
Idle Current Drain (6.0V): 3mA at stop
Idle Current Drain (7.4V): 3mA at stop
Current Drain (6.0V): 300mA/idle and 4.2 amps at lock/stall
Current Drain (7.4V): 380mA/idle and 5.2 amps at lock/stall
Dead Band Width: 2usec
Motor Type: Coreless Metal Brush
Potentiometer Drive: 6 Slider Indirect Drive
Bearing Type: Dual Ball Bearing MR106
Gear Type: 4 Titanium Gears
Connector Wire Length: 11.81" (300mm)
Dimensions: 1.57" x 0.78"x 1.45" (40 x 20 x 37mm)
Weight: 2.18oz (62g)

[bauermech]

These servos are awesome as I use the same ones in Rook's Pawn's waist. However, you should know a couple of things... One, not only are there little mounting tabs on the side, only four screws hold the servo together instead of the 8 on the standard HSR-8498HB's. Two, they are slightly thicker/taller... not much, but enough that it can bind the gear-sets if inserted into unmodified RN-1 parts. Third, although printed on the boxes (at least the older ones) the voltage/position feedback is NOT supported... meaning neither is the catch-n-play feature in RoboBASIC.
The new line (HSR-5990TG's)... soon to be coming out, however will support this feature. If you're looking for a little extra power and durability, yet don't want to have to modify your RN-1, the new HSR-5498SG's would work best... and are less expensive.

[omnizoid]

When are these coming out, do you have any more info? Catch and play would save me some time. I am keen on the extra torque so I can get it to jump.
I was also thinking of adding an extra control board in conjunction with an interrupt mechanism to allow me to get my rn1 to instantly change to another routine when its busy in a program loop.

[bauermech]

When are these coming out, do you have any more info?

Couldn't really say when they'll be out. I can't wait though.

Most of the info I have on them is in Japanese, but...
HSR-5498SG: (this will be our HSR-8498HB replacement)
steel gear
59.8g
6v/7.4v
11.0/13.5kg.cm
0.22/0.19 sec.60deg

HSR-5990TG
titanium gear
68g
6v/7.4v
24.0/30.0kg.cm
0.17/0.14 sec.60deg

...oh! Skim through http://www.robonova.de they've got all the specs posted.

[NullARC]

Here's a link I found for both 5498SG and the 5990TG:
http://www.robonova.de/store/comparison.php?show=&sort=&sort_direction=

Part of the page is in English, the other half appears to be German, I think!
The prices seem to be Euros. Since I can't read German, I'm not sure if you can actually order them now or not.

[bauermech]

At the top of the page there's a dialog box for selecting alternate languages. Unfortunately, these servos are not available yet. ...and the word stands, nobody can give a definate date as to when we can see 'em popping up on the shelves.

[NullARC]

Thanks for the tip, I missed that. I'm not sure why, but the link I posted originally went to a page with the servos listed side by side. Now it just goes to the homepage. Must have been a temporary page.