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Hello!I would offer an opinion, where permissible.You can follow 2 directions; Yogi beara said, " If you come to a fork in the road, take it". If you are designing for a hobby robot, the stressors in the robot will be specific, and thus,you will have fun investigating the dynamics of that.I just got in the first servos, MG996R, and it has altered some of my construction ideas. I've only toyed with microservos before and these are 55g and comparatively look like beasts. I had a design that took the bearing load off the servo, but I think I will simplify and connect the "leg" directly.What usually breaks in a servo? What kind of loads damage them?If you are designing a robot for functionality, then I would follow simplicity, reducingdesign time, cost, and repair/programming issues.I'm more into the amusement part.I've calculated, to the best of my ability the torque requirements and scaled to what I think is within range. Torque is not horsepower and I can only guess at that.I'm trying to make this as light as possible, about a pound, power source will be tethered as I think it would double or so the weight if it was onboard. The chassis and legs are mostly made out of thin "beams" of cypress which is light and strong and has some spring and give to it.Have fun, either way you go. I have not given the spine much thought, because I havechosen to follow a path that did not require the use.(?) However, maybe there is an advantageto the addition.I've been watching cats move and a cat (or other animal) can not sit or turn without bending it's spine. Most legged robots that steer require a rotator servo at the top of the leg. I think those can be done away with if the spine curves.insofaras a suggestion, the study of Statics, physics should give an insight to the Free body diagramyou will need to determine loads, then torques, then motors to drive, then amps. The Joys of Robotics!
HelloI have bought the Axon II. I have worked through most of the problems you may encounter with them.and have posted the resolutions in the Misc section in this forum; Analyzing the Axon: Coding, Construction, and Contraptions.When you buy the Axon, they are not like the other MCU's on sale. I am finding it a challenge to programone, after I have overcome the first obstacles. The up side is, once you download the AVR 6 software,you can program any Atmel MCU series, (theoretically). The Axon is the "portal" to a larger world,because most of the Atmel processors are in everything! I found a Atmel mcu in a digital Watch!Good Luck!!!
I'm thinking that the Axon must support C++ as well as plain C, although I could not find that out. I have a hard enough time with C++, not having objects and classes makes controlling multiple servos tedious work.