This is sort of my poor man's tachikoma.
Part names are based off of a traditional 8 legged spider. Yes, this one only has 4 legs, but the parts are expensive, so cut me some slack.
- Coxa: red
- Femur: blue
- Tibia: yellow
- Tarsus: green
Each of the legs has 4 addressable smart servos. Leg 1 for example, has servos 1, 2, 3, and 4. Each servo controls a degree of freedom for each leg.
The design below shows a new femur design where the part is curved. This gives the robot a better leg orientation when in the stowed configuration and the legs are up.
I saw this design by Adam McKaig and drew some ideas from it.
Also, I always thought the bugs from Starship Troopers were cool.
I use OpenSCAD which is a free solid modeler.
| Part | Qnty | Each | Cost |
|---|---|---|---|
| AX-12A Servos x6 | 3 | $225 | $675 |
| S1 (M2x6) screws (400 pcs) | 1 | $5 | $5 |
| N1 (M2) nuts (400 pcs) | 1 | $5 | $5 |
| BIOLOID BU/WA Washer/Bushing x10 | 2 | $8 | $16 |
| BOILOID 3Pin Cable Set (25) | 1 | $35 | $35 |
| BIOLOID F2 Servo Bracket x10 | 1 | $7 | $7 |
| BIOLOID F3 Servo Bracket x10 | 1 | $9 | $9 |
| PLA for 3d Printing | 1 | $25 | $25 |
| Total | $777 |