Leg 3dof - weight: 485g
CAD Model Leg 3dof
- this page describes the 3dof leg that is used for the Quadruped Robot 12dof
- the same actuator modules are also used for the FingerEdu and the NYU Finger
- the internal components of all the actuator modules are identical: Core Components
Submodules: Hip AA, Hip FE, Upper Leg and Lower Leg
Actuator Module Core Components - weight: 95g
The internal components of the actuator modules are described here:
Lower Leg Version v2 and v3 - weight: 22g each
- the Lower Legs are describes here: Lower Leg Documentation
3D Printed Parts Leg 3dof - weight: 139g
The recommended printing direction for all the parts below is the positive z direction of the stl files.
- The STL files for 3d printing the shells of the 3dof leg can be found here: STL files 3dof leg.
- Hip AA Module Shell Base - STL file
- weight: 21g
- Hip AA Module Shell Cover - STL file
- weight: 16g
- Hip FE Module Shell Base - STL file
- weight: 25g
- Alternative version of the Hip FE Base shell to simplify the wire routing
- Credit: Pau Martinez
- More information: GitHub Issue - Cable Routing Improving Proposal
- Hip FE Module Shell Base Alternative A - STL file
- weight: 26g
- Hip FE Module Shell Cover - STL file
- weight: 16g
- Upper Leg Module Shell Base - STL file
- weight: 27g
- Upper Leg Module Shell Cover - STL file
- weight: 15g
- Lower Leg v2 - STL file
- we print the lower leg on a FDM printer using the "sparse double dense" setting
- alternative Lower Leg Version 3 below
- Lower Leg Documentation
- weight: 20g
- Lower Leg v3 - STL file
- this lower leg is meant for printing as a solid part
- Lower Leg Documentation
- weight: 20g
- M2,5 and M3 fasteners
- we use stainless steel fasteners
- we use Helicoil inserts to reinforce the threads of the 3d printed parts
- you need the Helicoil Tools to install the threaded inserts
- Helicoil ordering information below
| Description | Quantity | Ordering Information | Comments |
|---|---|---|---|
| Core Components | 3 | Actuator Module Core v1 Actuator Module Core v1.1 |
|
| Hip AA Module Shell Base | 1 | STL file | 3d printed part |
| Hip AA Module Shell Cover | 1 | STL file | 3d printed part |
| Hip FE Module Shell Base | 1 | STL file | 3d printed part |
| Hip FE Module Shell Cover | 1 | STL file | 3d printed part |
| Upper Leg Module Shell Base | 1 | STL file | 3d printed part |
| Upper Leg Module Shell Cover | 1 | STL file | 3d printed part |
| Lower Leg v2 | 1 | STL file | 3d printed part FDM printer setting: sparse double dense |
| Lower Leg v3 | 1 | STL file | 3d printed part Print as a solid part. Alternative for Lower Leg v2 |
| Rubber Foot | Bicycle tire - for example: Schwalbe Lugano 28" 23-622 | Cut 75mm x 7mm segments | |
| Fasteners M3x35 | 2 | M3x35 Socket Head Cap Screw | Stainless Steel For Hip AA to Hip FE connection with adapter. |
| Fasteners M3x22 | 2 | M3x22 Socket Head Cap Screw | Stainless Steel For Hip AA to Hip FE connection without adapter. |
| Fasteners M3x16 | 2 | M3x16 Socket Head Cap Screw | Stainless Steel |
| Fasteners M3x12 | 2 | M3x12 Socket Head Cap Screw | Stainless Steel |
| Washer M3 | 2 | Stainless Steel | |
| Fasteners M2,5x6 | 12 | M2,5x6 Socket Head Cap Screw | Stainless Steel |
| Fasteners M2,5x10 | 15 | M2,5x10 Socket Head Cap Screw | Stainless Steel |
| Helical Inserts M2,5x3,75 | 27 | Hoffmann 082814 M2,5 McMaster 91732A767 |
M2,5 Helicoil tools required |
Leg 3dof v1 - Click on the picture to view the cad model in your browser
Joint Rotation Limiters - weight: 14g each
- the lower leg and the upper leg can perform multiple rotations
- to prevent multiple rotations and winding up the wires you can install a stopper on the upper leg
- we use silicone tube sections to soften impacts
Comparision Single Stopper and Double Stopper
- there's an alternative version that also prevents the lower leg from performing multiple rotations
- that version can be installed if a foot-switch is used
All the STL files for 3d printing can be found here: STL Files Leg 3dof
- Stopper Upper Leg Base - STL file
- weight: 5g
- Stopper Upper Leg Cover - STL file
- weight: 7g
| Description | Quantity | Ordering Information | Comments |
|---|---|---|---|
| Stopper Upper Leg Base | 1 | STL file | 3d printed part |
| Stopper Upper Leg Cover | 1 | STL file | 3d printed part |
| M2,5x6 Socket Head Cap Screw | 1 | Online Schrauben | Stainless steel. Online Schrauben ships within Europe. |
| M2,5x10 Socket Head Cap Screw | 1 | Online Schrauben | Stainless steel. Online Schrauben ships within Europe. |
| Silicone Tube 10mm Segment | 1 | O.D. 12mm I.D. 8mm | Tube Cutter |
Joint Rotation Limiter installed on the Upper Leg.
Open Dynamic Robot Initiative - Webpage
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Open Dynamic Robot Initiative - Forum
Open Dynamic Robot Initiative - Paper
Hardware Overview
Software Overview
Felix Grimminger
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Copyright (c) 2019-2021, Max Planck Gesellschaft and New York University