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Erick Daniel Galindo Garcia posted an update 4 months ago
Hello everyone. I told them that in early September I started on this project called Inmoov and I was building the robot for a couple of months. I already have it printed to the waist I still have to mount the servomotors and print the chest and back but I can not hold my will and I decided to start designing my own legs because I was doing research and I have not found anyone who has a model Legs printed in 3d that works properly.
I have encountered interesting challenges, especially reaching the right torque so that I can walk and already printed in these two weeks a prototype knee that reached in one of the tests 240 kg cm @ 13rpm (0.8sec / 60deg) using an economical brushless motor (CF 2812). Theoretically should reach 324 kg cm but broke the mounts that made to hold the piece. I’m using planetary gear transmissions. I will keep updating information if you are interested.
Very nice system,,,,, the design reminds me of that Japanese robot they finally got walking around,,,, Mr Gael has the legs designed but not released and he’s kept that organic look to them which very hard to copy- but getting the walking operation with the toque vs speed to work without him falling over is going to be a hell of a challenge-,,,,I’m still joining the smaller pieces of Inmoov together for bigbed printing- got the arms head and chest done,,, also putting bearing in all the main joins,, still got a couple months of work to do-,,, hans-jorg done the Biceps internal Gearbox bearings last week sometime which helped speed things up a bit- ,,and then I still got get all the servos / software and hardware up and running- which will keep on the solder Iron for quite a while- I like checking out other people’s work and how they solved problems- keep us updated- and let us know if you post your STL files on Thingiverse ,,,,