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Needs a few more parts coming over the week and design changes, but it's coming together nicely!
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Deseret Space & Engineering Technologies
265 posts
Deseret Space & Engineering Technologies
@DeseretSET
I'm just a guy who's an engineer for fun.
Katılım Ağustos 2025
60 Takip Edilen131 Takipçiler
money's been tight but i still splurged on a new laptop
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these MORMONS BRO they're TAKING OVER let's GOOOOOO
Deseret Space & Engineering Technologies@DeseretSET
In this thread I will go over the basics of my robot's design, issues and improvements I can make. First the basics, it is a radially symmetric quadruped, for simplicity. Sorry for the clunkiness of this thread, I have turbo autism.
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@i2cjak The servos I currently have are too weak, do you have any recommendations for alternatives? I was looking at 20kg servos, but 25kg would be better however I would need a beefier control board.
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@DeseretSET could do 1s2p and a boost for jetson, buck for servo or similar. nice!
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In this thread I will go over the basics of my robot's design, issues and improvements I can make. First the basics, it is a radially symmetric quadruped, for simplicity. Sorry for the clunkiness of this thread, I have turbo autism.
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I really need to dust off my robot.
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Alright I was struggling with a video so I'll post a thread.
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Solutions: move to a single battery system or use a battery matched to the voltage of the servos to reduce weight.
Change the servos for stronger ones or different kinds of actuators.
Possibly add more legs. Thank you for reading! Suggestions are encouraged.
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Now issues: the robot was too heavy because of the power system, causing 2 motors to burn out and the rotation joints to deform and become loose.
The frame also bent because of this.
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@romir_jain Correct me if I'm wrong but wouldn't a battery elimination circuit fix that?
Also I don't know the total power budget as I need to decide what to change the current legs out for since the servos burnt out.
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for the electronics layout, keep the Jetson thermally isolated from the motor drivers — servo PWM noise can cause inference hiccups if they share ground planes. on leg config, if you're planning to run any vision models on the Jetson while walking, hexapod gives you static stability during inference pauses (tripod gait keeps 3 legs down). pentapod is interesting for the manipulator idea but you lose that margin. what's the total power budget?
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Excuse my bad handwriting but here are quick sketches for ways I can change up the robot. Any suggestions? (Image 1: J is for the Jetson, L for the legs; Image 2: green is for the motors/actuators then for the leg positions)
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@eigengenesis It's midnight and it has failed 3 times now so tomorrow.
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@eigengenesis I'm trying to post a video explaining my plans but X decided that's not allowed apparently.
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Hold on if I use a quadrupedal design but add a single jointed tail I can use it and that simplifies the gate and electronics while still allowing for a tripod stance when holding something.
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The advantage of a pentaped is it has one less leg than a hexapod and I could make 2 legs double as manipulators and the robot still be stable when using them.
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