9g Nano Robot Dog

thingiverse

Inspired by Boston Dynamics and rationalized by YouTuber James Bruton's openDog project (https://www.youtube.com/playlist?list=PLpwJoq86vov_PkA0bla0eiUTsCAPi_mZf). Designed around Tower Hobby's 9g micro servos, with a frame super glued together. I set the servos to 90° then mounted the legs so each joint was perpendicular. The servos mount with their supplied screws and are interference fit into the joints, your servos may have different horn fits, test before printing all connections. BOM: (1) Arduino Nano (Headless) (1) 16ch PWM driver (12) Tower Hobby 9g servo (2) Frame-Vertical Pivot (2) Frame-Vertical (6) Frame-Stiffener Vertical (6) Frame-Stiffener Horizontal (4) Shoulder Pivot (4) Leg-Upper (2) Leg-Upper LH (2) Leg-Upper RH (4) Leg-Lower (2) Driver Support (1) Nano Support For kinematics: All Legs = 48mm Shoulder to Shoulder Pivot = 40mm (Left to Right) Shoulder to Shoulder Pivot = 80mm (Front to Back) With 90° being centered and perpendicular when assembled: Shoulder Pivot +/-17.5° (Left/Right) Shoulder Pivot +40.0°/-46.5° (Front/Back) Knee Pivot: +70°/-73° (Front/Back) This is a work in progress, I'll post code once I have it ready. It may take some time because while working through this design I thought up another version, slightly larger, which I'd like to share.