1. TORQUE ANALYSIS: LEG SERVOS Servo Information Leg Layout Servo TypeDimensionsMax Torque “T max ” (oz-in) Weight “W” (oz) High Torque (HT)1.57 x 0.78 x 1.454172.18 Low Torque (LT)1.57 x 0.78 x 1.451241.19 0.78’’ 5.22’’ Hip Lift: 1 HT Servo Knee: 1 HT Servo Ankle: 2 LT Servos Hip Torsion: 1 HT Servo Assumptions -Link weight acts at center of link -Links made of Aluminum ρ al = 15.6 oz/in 3 -Link Thickness: t=1/16’’ -Links are the width of the servo and cover top -Links are on both sides of servos 10.72’’

2. TORQUE ANALYSIS: HIP SERVO Max Torque Condition on Hip Servo when leg fully extended and // to ground F1F1 F2F2 T max + F 1 = ρ al *t 1 (2*L 2 *W 1 +(L 2 -1.25)*W 2 ) F 1 =15.6*0.0625(2*5.22*0.78+(5.22-1.25)*1.45 F 1 =13.90 oz F 2 = ρ al *t 1 (2* (L 3 -L 2 ) *W 1 +(L 3 -L 2 -1.25)*W 2 ) F 2 =15.6*0.0625(2*(10.72-5.22)*0.78 +(10.72-5.22-1.25)*1.45 F 2 =14.37 oz S1S1 S2S2 S3S3 S 1 =S 2 =S 3 =S HT = 2.18 oz S 4 =2S LT = 3.88 oz S4S4 L1 L2 L3 L 1 = 0.78’’ L 2 =5.22’’ L 3 =10.72’’

3. TORQUE ANALYSIS: KNEE SERVO Max Torque Condition on Knee Servo when Thigh // to ground & Shin ┴ to ground L2L2 Additional Assumptions -Each Arm consists of 1LT & 3 HT Servos -Neck has 2 LT Servos -Hip Joint has 3 HT Servos -Arm Links are same as leg links (conservative) -Torso + Electronics weigh 4 lbs (64oz) -Each Knee has to lift ½ weight of robot --Upper body leaning such that half weight is at thigh and other half is halfway b/t thigh and knee L 3 -L 2 F1F1 + T max L 2 =5.22’’ L 3 -L 2 =5.5’’ F 1 =6.76 oz W r = 2W arm +W neck +2W hip +W torso W r =2*(1LT+3HT+F1)+2LT+3HT+48 W r =2(1.94+3*2.18+13.9)+(2*1.94)+2(3*2.18)+64) W r = 128.54oz

4. TORQUE ANALYSIS: PUSH UP Servo Information Servo TypeDimensionsMax Torque “T max ” (oz-in) Weight “W” (oz) High Torque (HT)1.57 x 0.78 x 1.454172.18 Low Torque (LT)1.57 x 0.78 x 1.451241.19 Assumptions -Link weight acts at center of link -Links made of Aluminum ρ al = 15.6 oz/in 3 -Link Thickness: t=1/16’’ -Links are the width of the servo and cover top -Mass of 2 lbs at chest used to estimate internal electronic components and hip mass of 1 lb used to estimate battery Push-up Layout F F + O 182mm 118mm 201mm 118mm 140mm 120mm 140mm 120mm

5. TORQUE ANALYSIS: PUSH UP Max Torque Condition on Hip Servo when leg fully extended and // to ground F1F1 F2F2 ToTo + F 1 = ρ al *t 1 (2*L 2 *W 1 +(L 2 -1.25)*W 2 ) F 1 =15.6*0.0625(2*5.22*0.78+(5.22-1.25)*1.45 F 1 =13.90 oz F 2 = ρ al *t 1 (2* (L 3 -L 2 ) *W 1 +(L 3 -L 2 -1.25)*W 2 ) F 2 =15.6*0.0625(2*(10.72-5.22)*0.78 +(10.72-5.22-1.25)*1.45 F 2 =14.37 oz S1S1 S2S2 S 1 = 2*2.18 oz = 4.36 oz S 2 = 6*2.18 oz = 13.08 oz S 3 = 4*2.18 oz = 8.72 oz M L1 L2 L3 L 1 = 182mm L 2 = 383mm L 3 =501mm L 4 =620mm L4 S3S3 F M=2lbs, assume T=0 at o (moment balance)

6. STRESS ANALYSIS ARM LINK

8. ARM

10. ARM LINK DRAWING

11. STRESS ANALYSIS SHIN LINK

13. STRESS ANALYSIS THIGH LINK