Before committing to the side-by-side 4-bar linkage leg for SMMB’s new actuators, I wanted to give a try with a more traditional mammal geometry. That was my preference to begin with, but my initial motor evaluation didn’t find any motors which had sufficient torque without a gearbox, and adding a gearbox in a simple way changed the dimensions enough that mammal geometries weren’t feasible. I spent some time looking for new options, and I found at least one which was promising, the XOAR Titan 6008.
On paper it provides the same order of magnitude of torque as the 3508 without needing a gearbox. It’s diameter is of course larger, but not actually that much once you consider the gearbox hardware I had developed for the Turnigy 3508. I’ve drafted up a test leg geometry, and the overall dimensions are about the same as for the 3508 variant. Here you can see a side-by-side CAD model of the gearbox leg vs the direct drive leg.
The first sample, as usual with my 3d printing efforts, needed a moderate amount of whittling and post-machining, but does fit together and operate.
Next up is installing it in the jumping fixture and seeing what it can do there.