Carl BugejaThis is not my first quadruped robot I've build (https://hackaday.io/project/39427-flypod). One the most important things I've learned from this past project is that the selected servo-motors must be of very good quality. If one out servo is acting crazy, your twelve motor walking robot is doomed.
After a lot of research I ended up narrowing the choice to the HK-5320 and HK-5330 for this project. Both of these servo-motors are under 2grams and can working with a 1S LiPo battery. The only difference between these servo motors is the dimensions and the torque. The HK-5320 measures 20x6.2x18mm and has a stall torque of 0.075kgcm, while the HK-5330 measures 20x6.2x23mm and has a stall torque of 0.17kgcm.
So for the HK-5320 the robot's total weight can reach around 37.5grams (worst joint on 3legs), while for the HK-5330 a the robot's total weight can reach around 85grams.
The mass of my robot should not exceed 50grams, so my aim is to use a combination of these servomotors, using the HK-5330 for the joints that require larger torque.
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I always used the HK-282A — they are a bit thicker, but smaller overall, and with 0.11kg of torque place somewhere in between the two you listed. And since they are analog, I can drive them with a higher frequency to get a bit more torque at the same voltage.
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Huh, I didn't see the HK-5330 before, that looks interesting, with the motor sticking out like that. Thanks!
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