|This robot leg does not exist. -DALL-E & Doug|
I am in search of a "Stable" robot leg. Stable would mean that it can stand on its own without having to be activity lifted by the motors. In addition, it needs to be able to perform the basic function of lifting and moving in a 3 dimensional 'workspace'.
From a design perspective, lets go over a few requirements:
- Ability to stand freely supporting its own weight, and preferably some payload
- Ability to with stand some flexibility, some compliancy
- Ability to be raised and lowered with in some 'workspace' using up to 3 degrees of freedom (typically 3 servos)
- Use off the shelf servo motors, springs, 3D printing (PLA), and other common components.
With a stable leg, a biped or quadruped could be realized.
Mojo leg variants:
Leg 1 - Mojo
|the glass is half full!!|
Leg 2 - Mojo2
|Mojo2 - Quadruped Robot Leg|
Leg 3 - Mojo3
|Mojo3 - quadruped robot leg designs|
Leg 4 - Mojo4 - the 5 bar design
|Mojo4 - Five-bar style robot leg|
|prototype-printed-sketch of a 2 dof robot leg.|
|Design of a Biped Robot|
|Simple Running Robot Leg Mechanism|