- 3 x Gearhead motors: OK
- 3 x DC Motor drivers (H-Bridge): buy or make?
- 3 x Serial motor controllers with feedback: buy or make?
- 3 x Mounting hub for motorshaft: buy or make
- Building materials for the limb: I think I have some lying a round...
- Power cabling:OK
- Signal cabling:OK
The hip is complex because it sports two hinges very close to each other. Since this is a prototype I will most definitely cut a few corners, but making the hip hinge in the final product will most definitely be a challenge.
Next comes the knee hinge where the shape of the limb near the knee will be critical. I want the thigh to bend outward when the knee is up in a way so that the leg can stand 100% vertically while being parallel to the thigh (see illustration below).
Then there is the distribution of control. I want the end product to be as modular as possible, so I want to concentrate as much of the control related to each motor together with that respective motor. Instead of having one big controller, I want many small controllers, one per motor.
First I will need to focus on the DC Motor driver issue, and once I found a suitable driver I will have to focus about the controller issue. I think I'll just get one motor up and running with a driver directly connected to the RB-100.
To be continued...