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Hardware

Mechanical design

|

1000mm*550mm

|

18kg

|

Timing belt
reducer -

Maximum   
output-
40N*M

8DOF Quad tiny / 12DOF Quad tiny Module design

12DOF Quad bai

|

180mm*87mm

|

470g

|

Capstan
reducer –

Maximum   
output-
0.8N*M


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Joint actuator

Mechanical design

Quad tiny – Capstan reducer 6:1

Pros:
|

Without backlash, small moment 

of inertia, achievable high 
transmission ratio in limited space

Cons:
|

Pre-tensioned rope is vital

Motor

Capstan1

Capstan2

Quad bai – Timing belt reducer 9:1

Pros:
|

Small backlash, small moment 

of inertia,

Cons:
|

Higher friction, timing belt 

needed to be tensioned

Motor

Timing belt 1

Timing belt 2


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Leg

Mechanical design for quad tiny

For Quad tiny
|

Parallel leg mechanical design

Guidelines
|

Low weight/moment of inertia

/sufficient strength

L1

L2

L4

L3

Simulation of leg’s workspace

Actuator 1

Actuator 2

Replaceable foot

Single leg demo


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Single leg demo

Actuator 1

Actuator 2

Replaceable foot

Actuator 3

Leg

Mechanical design for quad bai

Guidelines
|

Low weight/moment of inertia

/sufficient strength

For Quad tiny
|

Serial leg design

Assembly a leg


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Eletronic

driver/controller for quad tiny

Motor driver_ gen 1:
|

Atmega328/Drv8313/AS5600

|

IIC*1/UART*1   Maximum 1.5A / 5.4g

Motor driver_ gen 2:
|

STM32f446/Drv8313/AS5600

|

IIC*1/UART*2/CAN*1/SPI*1 

with torque control mode

Controller board:
|

Esp32  Bluetooth/WIFI/IMU

|

IIC*1/UART*1/SPI*1   

|

Battery management,4S 450mah Lion bat

Controller ESP32

驱动

驱动

Drv

驱动

驱动

驱动

驱动

驱动

驱动

驱动

驱动

驱动

IIC

UART


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SIM

v-rep simulation of quad tiny

|

Hopping torque simed

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Hopping with feedforward controller

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2021, Shuang Peng, 

www.psrobotics.tech