dThe original chassis I had built for the brushless servo quadruped was designed around the aluminum bracket that was used in the Titan XOAR 6008 leg. For a quadruped that uses the BE8108 gearbox for the lateral mechanism, a new attachment mechanism was necessary. While I was at it, I made some other improvements as well.
- The battery is switched to use an off the shelf cordless power tool battery.
- The chassis is a shell, where most wiring can be run inside, including the IMU junction board.
- Dedicated inserts are in place on the top for a suspension fixture to be attached.
This was once again a record for the longest print I’ve made on my Prusa mk3s, 31 hours and change.
The design files are all on github: https://github.com/mjbots/moteus/tree/master/hw/chassis
I’ve since decided that it would make more sense to print this in pieces that are bolted together. Actually installing all the hardware was tricky down in the depths, but it does seem to be functional.