Leg Servo Selection and CADing

utra-robosoccer / soccerbot

Soccer playing robot representing Canada from University of Toronto

https://utra-robosoccer.github.io/

BSD 3-Clause "New" or "Revised" License

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Leg Servo Selection and CADing #453

Closed Vuwij closed 2 years ago

Vuwij commented 2 years ago

[x] Select the servos to use in Bez 2.0
[x] Modify the joints in CAD to accommodate the selected servos.

Shah-Rajab commented 2 years ago

Current planning:

2 x xl430 for hip joints that rotate along the z-axis. Buy 1-2 more for spares.
4 x xm430 with 1-2 spares
6 x MX64 with 2 spares

@manx52 to update the team with our latest inventory of Dynamixel servos. @acrylic-origami to analyze the data for final approval of servo distribution.

Location of the MX64s to be decided.

manx52 commented 2 years ago

So it seems like for legs: xl430: leg_motor_0 xm430: leg_motor_1, leg_motor_2 mx64: leg_motor_3, leg_motor_4, leg_motor_5

Need to verify with velocity data

Shah-Rajab commented 2 years ago

From @Vuwij :

Shah-Rajab commented 2 years ago

Change xl430 to MX28. @acrylic-origami is the order looking good?

Shah-Rajab commented 2 years ago

From the pic: 1: MX28 2,3: xm430 4,5,6: MX64

Shah-Rajab commented 2 years ago

@mx266