The past two weeks of school has consisted of further research, maths, and development toward the first prototype of the new legs. After having calculated the amount of torque produced by the legs on the hip motor on different angles, I have decided to print the first prototype. This prototype was only an hour of printing, so the version shouldn’t be dissimilar and thus printable in a single day. I spend a bit of time during these weeks to do the 3D modelling, although it took more time than it should have.
This is the thigh and calf of the leg. A hole is going to be drilled through the centre where they join, where they will have a rod through them, and attached fully to one of them. There are more considerations that will be made such as whether a washer between them is effective in reducing friction. This project is in the more complex phases now, and will likely be hard to get working fully for the end product. However, it does seem like a realistic goal to have these somewhat reliably moving. Another challenge I will face soon will be the programming element. I will probably use PWM to set when to move the servo motors, but I will need to check what a more effective way could be.