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Overview

2 DOF in Head 4 DOF/Arm 1 DOF in Torso 6 DOF/ Leg. Overview. ~25.5” Tall (feet to shoulder) 10” Shoulder W idth 2.5” Torso Width. BODY DIMENSIONS. 4 Simple brackets for multiple servo mounting orientations Side mount Bottom mount Large “C” bracket Single plane dual axis rotation

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Overview

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  1. 2 DOF in Head • 4 DOF/Arm • 1 DOF in Torso • 6 DOF/ Leg Overview

  2. ~25.5” Tall (feet to shoulder) • 10” Shoulder Width • 2.5” Torso Width BODY DIMENSIONS

  3. 4 Simple brackets for multiple servo mounting orientations • Side mount • Bottom mount • Large “C” bracket • Single plane dual axis rotation • Shoulder Rotation Side Mount Bottom Mount Large “C” Custom Servo Brackets Shoulder Rotation

  4. Simple Aluminum rods, ¼” • Cut to length  Height adjustability • Very cheap (~$7 per 6ft) • Integrates into standard servo brackets. Arm Assembly Custom Brackets Store bought Brackets Simple 6-32x1/2” machine screws for assembly LINKS & BRACKET INTEGRATION

  5. Ball Bearing • Axial and Radial Loads • Low rotation friction • Ball Bearings are cheap • Reduce stress on servo horn • Increased hip Stiffness -Green Rotation -Gray Static HIP DESIGN

  6. Leg Lift Squat T3 Push up T3 T2 Te Te T1 (cos(ϴ))+g1(L1/2)(cos(ϴ)) T2=(g2)(L2/2)(cos(ϴ))+(L2)(g3) T3~0 TORQUE REQUIREMENTS F F/2 F/2

  7. ROBOARD SERVO SPECS • Standard size digital servo• Torque @7.4V: 35.0 kg-cm/486.0 oz-in• Speed: 0.11 sec/60º• Voltage: 6 to 7.4V • Weight: 70g TORQUE RESULTS

  8. Stress Analysis Bottom Bracket

  9. Stress Hip/Shoulder Bracket

  10. Stress Analysis Elbow Bracket

  11. Stress Analysis Leg Assembly

  12. Deformation Leg Assembly

  13. Power Calculation

  14. Controller

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