사족보행 로봇 연구 기록
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2026.11.03 업데이트

V2 · 프로젝트 정보

RS06 12개로 설계하는 Mini Cheetah급 사족보행 로봇.

프로젝트 현황

Mass
16.44 / 17 kg
Current drawing against the budget; electronics as budget values
Parts over budget
3 of 6
Hip module +91 g, thigh +92 g, shin +34 g
Worst strength use
59.5 %
Hip module neck against a 50 % line (Fusion
Printed or bought
0
No V2 part printed or bought yet

다음 작업

설계 · 다음 작업

Hip module: compare structure types (all printed, aluminium seats, mixed) under the same loads within 390 g.

해석 · 다음 작업

Buy one RS06 for the heat bench; fix the stair recipe until Go2 climbs 16 cm.

로드맵

설계

  1. Requirements and budgetNov 1 · Mini Cheetah size, about 17 kg, RS06 x 12; payload still open
    Done
  2. 1 Hip moduleNov 3 · 481 g of 390; neck 59.5 % of strength; PETG seat overheats in the heat model
    In progress
  3. 2 Thigh442 g of 350; structure type chosen (walled box)
    Waiting
  4. 3 Knee drive (rod)Chosen over eight others; rod ends and knee stops left
    Waiting
  5. 4 Shin and foot179 g of 145; oval tube with a metal foot tongue
    Waiting
  6. 5 BodyB-plate chosen, 789 g of 1,300; service hatch and payload deck left
    Waiting
  7. 6 Battery2.0 kg budget; 36 V from two tool packs
    Not started

해석

  1. Top-down budgetNov 1 · Hand calculation from stair geometry
    Done
  2. Part comparisons in FusionNov 2 · Knee drive, body, shin and thigh structure types
    Done
  3. Heat modelNov 3 · PETG motor seats exceed 60 C when walking
    Done
  4. Stair simulation gateV2 and Go2 both 0 of 100 at 16 cm: recipe first
    In progress
  5. RS06 heat benchOne motor in a printed carrier
    Not started

공통 목표

  1. One leg on a stair-edge rigAfter parts 1-4 meet their budgets and strength line
    Not started

자료

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