• What servo torque should I use?
    3 replies, posted
I wanted to make a bipedal robot with Raspberry Pi. But I'm not sure of torque range to use. The lower limbs would have a total of 8 servos at least. Maybe 10 if I put in ankle joint. It should be a slender lower limb, meaning it might require more torque than shorter legs. What smallest servo torque is adequate to support the weight, lets say including the raspberry pi wothout power source? 3kg/cm? 6? 10? Anybody had experience with it? Any estimation?
what would the robot be doing? if it's just moving itself then it won't take much
Honestly, you might as well buy a few sizes and test. Mini quadrupeds usually stick with the tried-and-tested 9g servo, which is probably the best option (to keep things lightweight as possible using a Pi Zero instead of stacking on weight, as they get harder and harder to drive, more expensive and more susceptible to damage the bigger you get). Just get ones with metal gears instead ($5-6 each) of plastic ($2-3) since you'd strip some nylon gears pretty quick in that application. A single cell phone 1S Li-Ion (i.e. for a LG G3) will drive a raspi and supporting electronics for longer than it'd take to get bored. If you're just getting started, I'd recommend an inherently stable design like a quadruped instead and passing on part savings to get a 3d printer (i.e. monoprice mini) if you don't already have one, though.
I see, so its okay with that range of torque huh. Thank you. I'll try the smaller ones first (below 5kg/cm) I just wanted it to balance on its feet standing idle with input from gyroscope.
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