Agricultural Robotics - Limb Parametrics

Agricultural Robotics

Though a pulley system is possible and may offer advantage for motor count, it increases complexity and failure modes. However, The use of range of motion limits as joint projections to define maximum extension will allow for current spike detection and automatic calibration.

interlocking joint carapace segments are attractive and can be used to promote control over the physical parameters. please extend on the concept, beyond what is represented here - create 3D models for an more effective implementation from your insights

attractive and shapely limbs with stunning design will offer the product elegance to be desireable and exciting for owners. employ a sci fi look where possible, also organic and functional. use such range limits, adding side plate protrusions for stability of joints.

create an overall look that ensures a stance capable upon the weeds and with an attitude of hard work toward the soil. ensure that the digging motors are strong enough, and consider the forelimbs as working soil effectors for tilling.

apply metal tips to the front soil effectors to allow for low wear and conductive access at the charger plate beacon. perhaps use 3d printed metal parts for this (laser sintered) but if possible a cheaper premade component embedded or attached, screwed in or adhered

please create the 3D files for blender which will fit the drive motors into the limbs and body, and connect reliably to the motor shafts for limb actuation and a long lifetime before repair is needed. Try to design so rework and repair will be easy for anyone.

the N20 motors are strong enough for the last limb segment, the N30 will mobilize the limb base joint since it's driving a larger lever arm.
whether we'll need to use an 050 is unclear, unless the size of the unit increases, which is likely.

N20 dimensions to be used for the definition of motor cavity and drive sockets for the 3d printed leg segments that it fits into. this will be the outermost segment, this light motor will embed to the leg halfway along it and drive distal

050 is a much wider motor, and will demonstrate much greater power draw so add more batteries if the unit utilizes them, likely for a later iteration, a larger unit overall

diameter of the powerful 050 is greater than that of the N20 and N30. 050 diameter is 15.5 plus or minus 0.5 mm. it is also fatter, with a width beyond the extent of the gearbox, also a unique feature

the N20 dimensions including overall length. the N30 motor is longer and this must be accounted for in the base limb segment receptacle into which the motor is installed, and the method of taking the drive reliably from the shafts established - a slot in the material or a collar added and screwed on

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