9G Servo based Universal Joint

myminifactory

I created this universal joint from the ground up, with the goal of using it in the shoulder and hip joints of a robot dog that I'm currently developing. My main objective was to create a universal joint with two degrees of freedom in one location, since mammals like humans have this same configuration in our shoulders and hips. You'll see the design steps I went through to reach my current state. The design is specifically tailored to fit the Tower Pro 9g micro servos. I'm aware that the print quality isn't ideal, and I apologize for that. The parts were printed using a budget-friendly plastic material that seems almost endless in its availability.