Wiki source code of mechDOG Quadruped

Version 34.1 by Eric Nantel on 2022/02/15 10:34
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Eric Nantel 30.1 1 {{lightbox image="SESV2-mechDOG.PNG" width="350"/}}
Eric Nantel 1.1 2
Eric Nantel 26.1 3 [[[[image:[email protected]||alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com/en/lynxmotion-smart-servos-articulated-arm.html||rel="noopener noreferrer" target="_blank"]]
Eric Nantel 1.1 4
5 **Table of Contents**
6
7 {{toc/}}
8
9 = Description =
10
Coleman Benson 24.2 11 Lynxmotion's MechDog was created as a collaboration with MechDickel (RobotShop Community) to create a four-legged (quadruped / quadrapod) robot with similar degrees of freedom to a mammal. ST1 modular servos are used throughout, along with a variety of Lynxmotion Servo Erector Set (SES) V2 brackets. The body plates are made of composite G10 and the body side panels are anodized aluminum. The LSS Adapter acts to split battery power to each leg, and can be used with either an Arduino shield-compatible microcontroller or single board computer (SBC) like the Raspberry Pi. The internal compartment can be quickly accessed using thumbscrews at the top. There are mounting points at the top for accessories like YDLidar's 360 degree laser scanner or other SES V2 brackets. The size of the robot and built-in functionality of the smart servos make it ideally suited as an inexpensive development platform onto which a variety of sensors can be mounted and used for autonomous behaviors, navigation and more.
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13 = Features =
14
Coleman Benson 19.2 15 * 12x fully configurable modular smart servo motors
16 * Built-in safety features (over current, temperature, voltage)
17 * Modular aluminum brackets
18 * Compatible with Lynxmotion Servo Erector Set electronics
19 * Easy to understand and human readable LSS communication protocol
Coleman Benson 22.2 20 * Mounting for IR and ultrasonic sensors is included.
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22 = Specifications =
23
Coleman Benson 20.2 24 * 3 Degrees of Freedom (DoF) per leg: hip; shoulder; knee
25 * Body / chassis length:
26 * Body / chassis height:
27 * Suggested standing height (to top of chassis):
28 * Suggested battery: 11.1V (3S) LiPo capable of at least 5A continuous discharge
Coleman Benson 23.2 29 * Sensor mounting plates for:
Coleman Benson 20.2 30 * Weight:
31 * Suggested max. payload (incl. battery):
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33 = Quickstart Guide / Assembly =
34
Eric Nantel 4.1 35 {{include context="NEW" reference="servo-erector-set-robots-kits.ses-v2-robots.ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.WebHome"/}}
Eric Nantel 1.1 36
37 = Actuators =
38
39 (% style="width:350px" %)
40 |**Location**|**Type**|**Static Torque**|**Max Speed**
Eric Nantel 4.1 41 |All|ST1|14Kg-cm|360° /s
Eric Nantel 1.1 42 |(% colspan="4" %)(((
43 **Note that when operated at lower voltages, torque and speed are reduced.**
44 )))
45
46 = Dimensions =
47
Eric Nantel 31.1 48 {{lightbox image="a" width="400"/}}
Eric Nantel 1.1 49
50 = What's Included =
51
52 (% style="max-width:750px" %)
Eric Nantel 32.2 53 |(% style="width:125px" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome]]**|(% style="width:125px" %)**[[doc:servo-erector-set-system.ses-electronics.ses-modules.WebHome]]**|(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %) |
54 |(% style="width:125px" %)12x LSS-ST1|(% style="width:125px" %)1x LSS-ADA|(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %) |
55 |LSS Standard|LSS Adapter| | | |
56 |[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-smart-servo.WebHome@LSS-ST1-Horns.PNG||alt="LSS-ST1.png"]]|[[image:servo-erector-set-system.ses-electronics.ses-modules.lss-adapter-board-type-c.WebHome@LSS-ADA-V1.2.PNG||alt="LSS-ADA-V1.2"]]| | | |
Eric Nantel 33.2 57 |(% colspan="6" %)
Eric Nantel 33.3 58 |4x ASB-28|4x ASB-30|4x ASB-33|4x ASB-37|8x ASB-39|5x GPAB-01
Eric Nantel 33.4 59 |LSS Single|LSS Double|LSS Gearbox|Angle C Bracket|Short C Bracket|Side Bracket
Eric Nantel 33.3 60 |[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-28.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-30.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-33.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-37.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@ASB-39.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-brackets.WebHome@GPAB-01.jpg]]
Eric Nantel 33.2 61 | | | | | |
Eric Nantel 32.3 62 |(% colspan="6" %)**[[mechDOG Custom Parts>>doc:.mechdog-quickstart.mechdog-parts.WebHome]]**
Eric Nantel 33.1 63 |4x mechDOG-F-01|4x mechDOG-F-02|6x mechDOG-F-03|2x mechDOG-F-04|2x mechDOG-F-05|2x mechDOG-F-06
64 |U Shape Frame|Frame Brace|Blank Plate|SES Plate|LSS Plate|PING Plate
Eric Nantel 32.3 65 |[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts.WebHome@mechDOG-F-01.PNG||alt="mechDOG-F-01"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts.WebHome@mechDOG-F-02.PNG||alt="mechDOG-F-02"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts.WebHome@mechDOG-F-03.PNG||alt="mechDOG-F-03"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts.WebHome@mechDOG-F-04.PNG||alt="mechDOG-F-04"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts.WebHome@mechDOG-F-05.PNG||alt="mechDOG-F-05"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts.WebHome@mechDOG-F-06.PNG||alt="mechDOG-F-06"]]
Eric Nantel 33.1 66 |2x mechDOG-F-07|mechDOG-F-T|mechDOG-F-B|mechDOG-J-A|mechDOG-J-B|mechDOG-J-C
67 |Sharp Plate|Frame Top|Frame Bottom|Jig part A|Jig part B|Jig part C
Eric Nantel 32.3 68 |[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts.WebHome@mechDOG-F-07.PNG||alt="mechDOG-F-07"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts.WebHome@mechDOG-F-T.PNG||alt="mechDOG-F-T"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts.WebHome@mechDOG-F-B.PNG||alt="mechDOG-F-B"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts.WebHome@mechDOG-J-A.PNG||alt="mechDOG-J-A"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts.WebHome@mechDOG-J-B.PNG||alt="mechDOG-J-B"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts.WebHome@mechDOG-J-C.PNG||alt="mechDOG-J-C"]]
69 |4x mechDOG-Foot|4x mechDOG-Sock| | | |
70 |Foot|TPU Sock| | | |
71 |[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts.WebHome@mechDOG-Foot.PNG||alt="mechDOG-Foot"]]|[[image:servo-erector-set-robots-kits.ses-v2-robots.ses-v2-legged.ses-v2-mechdog.mechdog-quickstart.mechdog-parts.WebHome@mechDOG-Sock.PNG||alt="mechDOG-Sock"]]| | | |
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