leg_test_stand_v1

Leg Test Stand v1

Description

2 x Actuator module
1 x Lower leg with foot contact switch
TI evaluation board electronics
Vertical Range: 85cm Hip height: 7cm - 92cm
Weight of sliding carriage: 650g

Off-the-shelf Components

Height Sensor

Waycon String potentiometer 1000mm

Force Torque Sensor

ATI Mini 40 force-torque-sensor with SI-40-2 Calibration

Inertia Measurement Unit

Lord Microstrain 3DM-GX5-25

Linear Guide

• Linear ball bearings: KB-1 14mm diameter
• Linear motion rods: Precision Stainless Steel Rods X46 14h6 x 1000mm

Machined Parts

3D Printed Parts

Components Teststand

How to work with this

• To get an better overview of the assembly you can view this pdf file
• I recommend downloading the free eDrawings viewer for Windows, Mac, iOS and Android here.
• The eDrawing Viewer Software allows you to open and explore this easm cad assembly file

Authors

Felix Grimminger

License

BSD 3-Clause License

Copyright

Copyright (c) 2019, Max Planck Gesellschaft, New York University

More Information

Open Dynamic Robot Initiative - Webpage
Open Dynamic Robot Initiative - YouTube Channel
Hardware Overview
Software Overview