This teststand allows us to evaluate the performance of a single 2dof leg with external sensors. The teststand has a linear guided vertical degree of freedom and a carriage that holds the leg and the motor driver electronics. The ground reaction forces are measured with a 6 axis force-torque-sensor and are transmitted to the control pc at 1kHz. The vertical position of the carriage is measured with an analog string potentiometer. The test stand can be equipped with a pull-up-motor module for automated resetting to the initial position for machine learning experiments.
- This is an updated version of the Leg Test Stand v1
- The details of the 2dof leg are described here: Leg 2dof v2
- the details of the custom electronics are described here:
Leg Test Stand v2 cad model
- vertical range: 85cm
- pull-force height sensor about 2N
- weight carriage with electronics and 2dof leg: 713g
- 24V power supply and ethernet connection
Carriage with 2dof leg and custom motor driver electronics - weight: 713g
Electronics Stack - weight: 45g
Master Board v2 - weight: 19g each
Micro Driver Electronics - weight: 13g
- the micro driver board controls 2 brushless motors
- Micro Driver Board Documentation
Waycon string potentiometer
- Waycon LX-PA-40 string potentiometer
- measurement range 1000mm
- Waycon Webpage
- Waycon String Potentiometer Datasheet
- ordering information below
ATI Mini-40-E force-torque-sensor
- 6 axis force-torque sensor
- ATI Mini-40-E with SI-40-2 Calibration
- NetBA Interface Box required
- Ethernet communication with control pc
- ATI Mini-40 Product Page
- ATI Mini-40-E Technical Drawing
- NetBA Interface Box Technical Drawing
- ordering information below
Linear ball bearing and linear motion rod
- Linear ball bearings: KB-1
- Rod diameter 14mm
- Linear motion rods: Precision Stainless Steel Rods X46 14h6 x 1000mm
- ordering information below
Item aluminum profile
- Item aluminum profiles - Size 8 - 40mm x 40mm
- required profile length: 2,7m
- segment lengths: 120cm / 70cm / 50cm / 30cm
- ordering information below
Item 90 degree angle bracket 40mm
- 90 degree 40mm angle brackets
- ordering information below
Item end caps
- end caps - size 8
- ordering information below
Item M5 t-slot nuts
- T-slot nuts M5
- ordering information below
5mm Steel Pins
- Steel Pins - 5mm x 28mm
- ordering information below
Carbon-fiber tube
- O.D. 6mm / I.D. 4mm / Length 30cm
- for wire management
- ordering information below
The recommended printing direction for all the parts below is the positive z direction of the stl files.
All the STL files for 3d printing the Leg Test Stand can be found here: STL Files Leg Test Stand.
- Carriage - STL file
- print on FDM or SLS printer
- Master Board Support - STL file
- print on FDM or SLS printer
- Spacer Micro Driver Stack - STL file
- print on SLA, Multijet or Polyjet printer
- Linear Bearing Cover - STL file
- print on FDM or SLS printer
- Adjustment Sleeve - STL file
- print on SLA, Multijet or Polyjet printer
- Linear Motion Rod Attachment - STL file
- print on FDM or SLS printer
- String Potentiometer and Pullup Motor Mount - STL file
- print on FDM or SLS printer
- Pulley Pullup Module - STL file
- for pullup motor / optional
- print on FDM or SLS printer
- ATI Sensor Top Plate - STL file
- print on FDM or SLS printer
- ATI Sensor Bottom Plate - STL file
- print on FDM or SLS printer
- Motor Driver Electronics Attachment - STL file
- for pullup motor electronics / optional
- print on FDM or SLS printer
- Stopper Attachment - STL file
- print on FDM or SLS printer
- Stopper Wing - STL file
- print on FDM or SLS printer
| Description | Quantity | Ordering Information | Comments |
|---|---|---|---|
| 2DOF Leg | 1 | 2DOF Leg Documentation | Custom assembly |
| Master Board | 1 | Master Board Documentation | Custom electronics |
| Micro Driver Board | 1 | Micro Driver Board Documentation | Custom electronics |
| String Potentiometer | 1 | Waycon LX-PA-40 Waycon Distributors |
1000mm measurement range Waycon String Potentiometer Datasheet |
| 6 Axis Force-Torque-Sensor | 1 | ATI Mini-40-E SI-40-2 calibration ATI Sales |
ATI Mini-40 Product Page We ordered the sensor and interface box from Schunk in Germany. |
| Inertia Measurement Unit | 1 | Lord Microstrain 3DM-GX5-25 AHRS Lord Microstrain Distributors |
3DM-GX5-25 AHRS Datasheet We ordered the IMU from ZSE Electronic GmbH in Germany. |
| Linear Ball Bearings | 4 | KB-1 14mm Mädler 64699814 |
|
| Linear Motion Rods | 2 | Precision Stainless Steel Rods X46 14h6 x 1000mm Mädler 64799214 |
|
| Aluminum Profiles | 4 | Item Size 8 - 40mm x 40mm Item 7.0.000.09 |
Segment lengths: 120cm / 70cm / 30cm / 50cm |
| Angle Brackets | 4 | Item 0.0.411.15 | Bolts and nuts included. |
| End Caps | 5 | Item 0.0.026.01 | |
| T-Slot Nuts M5 | 7 | Item 0.0.480.54 | |
| Steel Pin 5mm x 28mm | 2 | ||
| Carbon-fiber tube 6mm | 1 | R&G 7406041 | Length 30cm |
| Carriage | 1 | STL file | 3d printed part Print on FDM or SLS printer. |
| Master Board Support | 1 | STL file | 3d printed part Print on FDM or SLS printer. |
| Spacer Micro Driver Stack | 8 | STL file | 3d printed part Print on SLA, Polyjet or Multijet printer. |
| Linear Bearing Cover | 4 | STL file | 3d printed part Print on FDM or SLS printer. |
| Adjustment Sleeve | 4 | STL file | 3d printed part Print on SLA, Polyjet or Multijet printer. |
| Linear Motion Rod Attachment | 2 | STL file | 3d printed part Print on FDM or SLS printer. |
| String Potentiometer and Pullup Motor Mount | 1 | STL file | 3d printed part Print on FDM or SLS printer. |
| Pulley Pullup Module | 1 | STL file | 3d printed part / optional Print on FDM or SLS printer. |
| ATI Sensor Top Plate | 1 | STL file | 3d printed part Print on FDM or SLS printer. |
| ATI Sensor Bottom Plate | 1 | STL file | 3d printed part Print on FDM or SLS printer. |
| Motor Driver Electronics Attachment | 1 | STL file | 3d printed part / optional Print on FDM or SLS printer. |
| Stopper Attachment | 2 | STL file | 3d printed part Print on FDM or SLS printer. |
| Stopper Wing | 1 | STL file | 3d printed part Print on FDM or SLS printer. |
| Carbon Fiber Rod | 1 | O.D. 5mm I.D. 4mm Length 30cm |
|
| Fasteners M3 x 8 | 16 | Fasteners linear bearing covers | |
| Fasteners M3 x 16 | 4 | Fasteners 2dof leg | |
| Fasteners M2,5 x 22 | 4 | Fasteners electronics stack | |
| Fasteners M2 x 5 | 4 | Fasteners Master Board |
Leg Test Stand v2 - Click on the picture to view the cad model in your browser
- You can download the Solidworks CAD files here.
Open Dynamic Robot Initiative - Webpage
Open Dynamic Robot Initiative - YouTube Channel
Open Dynamic Robot Initiative - Forum
Open Dynamic Robot Initiative - Paper
Hardware Overview
Software Overview
Felix Grimminger
BSD 3-Clause License
Copyright (c) 2019-2021, Max Planck Gesellschaft and New York University