Embedded Files
Parts List
Parts List
Actuators(Motors)
The actuators are chosen based on their torque and speed properties. Since the actuators have to move a heavy load, a high torque motor is needed. The interface and protocol of the actuator is also taken into account meaning that how will the motor be controlled. Because of this, the MX-64 Robotis actuators are chosen for its combination of high torque and low speed and the ease of programming with the openCM microcontroller.
Aluminum Bars
The main body structure is hexagonal shaped aluminum bars. The reason for this is because aluminum is both light weight and strong. The shape itself is chosen because it does not have stress points as a typical square shaped bar or the difficulty of attaching parts as a circular shaped bar. This makes the hexagonal bar a good midway between the two shapes.
3D Prints
Through trial and error, it was found that PETG is the best filament type for the joints because of its properties in flexibility, tensile strength, and ease of printing.
Assembly
Assembly
The first step was to assemble one leg first.
The image to the left shows the front right leg. One thing to note is that the assembly for all the legs are the same except that there is a rotation on the neutral point on the motor. What this means is that the left is a mirrored from the right side and the back is mirrored from the front. This is done because the openCM microcontroller sets each motors position to zero prior to running any commands.
The next step is to assemble the inner frame of HARQ.
Unfortunately, I do not have an image of this. However, you can image this part being the two parallel bars, with the three parallel spines.
All parts are assembled.
First Iteration
First Iteration
Second Iteration
Second Iteration
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