Scissors and 4 bars Linkage Torque - Quadruped

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In this video I evaluate the torque of a scissors and 4 bars linkages for quadruped.

In both mechanisms, the servo arms are the same size. In the 4 bars, the amplitude of the movement is approximately 3cm, while in the scissors, the amplitude is approximately 12cm.

We can consider that the scissors is a 4 bars duplicated 4 times with an amplitude of 3cm multiplied by the number of modules, i.e. 4.The basic module should therefore have a strength of 60x4 = 240g.

What we gain in amplitude and speed, we lose in torque, but this does not means the scissors linkage is not good.




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