The goal at this point is making the mech match what I'll actually build. That way the simulations will be accurate enough to determine the exact walking sequence. Similarly, I'll be able to get the collision detection and weight measurements correct.
Got the basic supports done for the mech foot. I'm using a helix or spring-like pattern to prevent the truss that connects to the leg from bending in the face of the torque from the feet. I'm not yet sure how to measure the stresses on it.
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