Humanoid Robot Leg Design
Part I: Prototype
Timeline: 1 Week
The prototype ankle joint took inspiration from the Fourier GR-1 robot, using a linkage to give the foot pitch and roll movement. This design was 3D printed, actuated using two 5V servo motors, and controlled by an Arduino Uno.
Part II: Full Scale Design
Timeline: 2 Weeks
The full scale design implements a belt driven knee with two motors embedded in the calf, each actuating a linkage which would control the pitch and roll of the foot. The calf utilizes a construction based around several parallel plates and standoffs to minimize manufacturing and assembly while remaining relatively light and resilient to the forces it might be subject to.
The first big challenge with this design was interfacing with the knee joint, which was designed by another member. This integration task was solved by indirectly driving the knee with a belt and pulley while having the calf rotate on a dead axe, which would allow for an easier process during assembly and maintenance. The next big challenge was designing the 2DOF joints that would link the ankle connection points to the driven links, and this was done using links built around shoulder bolts and bushings with a carbon fiber rod transferring the motion and the force. These components were designed to minimize the operation count during manufacturing for quicker iteration.
