RAPTA - Autonomous Humanoid Leg

The list of components and building instructions for the perpendicular gearage have been added to the build instructions section.

Components: Perpendicular gearage.xlsx

Build instructions: Perpendicular gearage.lxf

The LXF file instructions can be viewed in the Lego Digital Designer application. The instructions can also be viewed online here.

The Lego motors are not powerful enough to take the weight of the leg and maintain a position. So, I have built a gearage system which has two objectives:

1. to increase the torque to the driveshaft by gearing down from a small to large gear,
2. drive the joint with a worm gear so that it locks in place when not in motion, so not putting exertion on the motor. This requires a perpendicular change in drive rotation which is done using single-bevel tooth gears.

This image shows the gearing down and the bevel direction change.

This image shows the underneath of the chassis with the worm gear and the bevel direction change.