Quadruped Robotic Platform –Mechanical & System Design (Phase 1)

Mechanical Architecture & System Design

Objective

Designed a quadruped robotic platform for stable locomotion, modular expansion, and future integration of vision and autonomous behaviors.

Technical Specifications

• DOF: 12 (3 per leg)

• Actuators: DS3230, MG996, SG90

• Control: ESP32 (future Raspberry Pi)

• Sensors: Camera, ultrasonic (planned)

• Manufacturing: FDM 3D Printing

Engineering Highlights

• Distributed actuation across multi-DOF leg architecture

• Lightweight leg structures optimized for dynamic motion

• Modular system architecture enabling payload and electronics integration

• Designed for real-world interaction beyond simulation environments

Actuation & Joint Mechanism Design

HIP YAW JOINT – Base Rotation Axis

• Role: Provides horizontal rotation of the leg

• Actuator: DS3230 - high torque servo 30 kg·cm

• Design Choice: Direct-drive configuration with reinforced    mounting interface for high torque transmission

• Key Feature: High torque capacity for full leg orientation

HIP PITCH JOINT – Load-Bearing Axis

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• Role: Supports vertical movement and main load transfer

• Actuator: MG996 - High torque servo (12Kg/cm)

• Design Choice: Servo positioned close to body to reduce moment arm

• Key Feature: Optimized for high torque transmission and structural rigidity

KNEE JOINT – Distal Articulation

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• Role: Controls leg extension and ground interaction

• Actuator: MG90S - Metal gears servo 2.3 kg·cm

• Design Choice: Lightweight distal joint to minimize inertia

• Key Feature: Compact integration enabling fast response and reduced inertia

Model Files

The model files will soon be available to download once the whole project is finished and tested.