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Step 2Leg Design 2
The second part of leg dimensions is the tibia***(should include earlier diagram w/ picture of femur and tibia) length. This requirement is that the end effector can be positioned beneath the knee joint or can be positioned under the knee joint with minor hip rotation.
This might seem like an intuitive***y? design element, but it is easily overlooked. As a result a tibia length of 8 inches satisfies the requirement.
In summation, for leg design, the femur length is determined by knee joint torque and robot weight, and the tibia length is determined by the length from the knee joint to the ground at the knee joint lower bending limit when the hip joint is oriented perpendicular to the ground.
This might seem like an intuitive***y? design element, but it is easily overlooked. As a result a tibia length of 8 inches satisfies the requirement.
In summation, for leg design, the femur length is determined by knee joint torque and robot weight, and the tibia length is determined by the length from the knee joint to the ground at the knee joint lower bending limit when the hip joint is oriented perpendicular to the ground.
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