Instructables

Step 37: Waist linkage redo

Picture of Waist linkage redo
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Rebuilt mechanism to bend at waist - still not great

-moved motor a little
-added L bracket to try and get more leverage (had to make L bracket)
-added small link to give it some slack
-added a screw to keep the link from locking up when robot is bent all the way down

-also - replace mosfet driving waist motor (second time - should add fuse, or something better)