Lately I have had some time to revisit Felix’s leg design. I wanted to experiment with a simplified version without linkages to increase movement precision. A positive side effect of this, is that by moving half the servos closer to ground I can rely on less powerful servos (HiTEC HS-422).
Another step to increase precision (and repeatability) is to move from an aluminium (hand made) based hardware to laser-cut acrylic. I’ll be posting SVG files of the design as I move along.
I don’t have a Laser Cutter at home, the leg on the picture was made with my scroll-saw to test the geometri and basic movement. Once I’m happy with it, I’ll borrow one at my local Fablab (http://valby.copenhagenfablab.dk).