Entry Top Next
11/06/2004 - Fabrication and assembly of the leg support
a shot of all the components for the leg support mechanism.
Leg Support Frame
for the Frame
Supports cut from Norm's welded leg supports.
Frame cross members - Gas Strut pivot points.
Frame Fore/Aft cross members.
are a few shots of the assembled Leg Support Frame:
Leg Support Bottom Plate
bottom plate provides an attach point for the hip motor and the
leg section electronics.
for the Bottom Plate:
a shot of the bottom plate in position:
Hip Motor Bracket
for the Hip Motor Bracket:
few shots of the motor bracket:
Leg Frame Back Plate
back plate helps hold the support's "square" and provides
an attach point for the 12" hinge.
for the Back Plate:
are a few shots of the back plate:
Hip Hinges and Gas Shock Struts
Hip hinge is just a 12" hinge that I picked up at a local
Gas Struts hold most of the weight of the torso. This allows the
hip motor to raise and lower without excessive loads.
Numbers for the "Strong Arm" struts:
NAPA 819 -5245
Numbers for the "Strong Arm" struts are no longer valid as of 5/9/15.
Information on the strut itself:
New part number that can be used in this build
would be : 4517.
Best deal is at AutoZone at time of this writing.
AutoZone cross referenced the Strong Arm part number to the following: SG359009
USA - Gastonia, NC 28052
3824LG 0230N 213/14 C27
Above infromation thanks to Greg Logue.
a shot of the struts and the hinge:
attached to Hip Bracket:
Hip Actuator Arm and Connector Rod
arm (red) and rod (yellow) allow the motor to raise and lower
the front of the hinged sub waist plate. This allows the Robot
to lean forward and backwards.
for the Arm & Connector:
are a few shots of the arm & connector parts:
brass bushing and nylon spacers for the linkage.
to the lower plate:
and Motor Controller assembly mounted to the lower plate:
switch to detect if the Hip is above or below "level":
Sub Waist Plate
sub waist plate leans forward and back and provides a mounting
location for the torso rotation motor.
for the Plate:
are a shot of the sub waist plate:
Sub Waist Plate Frame
sub waist frame provides strength and attach points for the gas
for the Frame:
Waist Plate Frame.
is a shot of the sub waist plate frame attached to the sub waist
the assembly attached to hinge and gas struts, with a little help
from my son!
the connector arm and rod attached to the frame:
Torso Rotation Motor Assembly
Bracket holds the motor and allows for vertical adjustment of
the wheel. The wheel is a 4.5" diameter hobby
wheel meant for large model RC Aircraft.
for the Bracket and Wheel hub:
are some shots showing how it all goes together:
it is attached to the sub waist plate:
the whole thing in place on the Treads:
Donut/Waist Plate assembly, attached to the sub waist plate:
shows off the suports with the torso in place:
everything, hip motion, torso rotation and soil sampler control.
Entry Top Next