mounting hole options, but plenty to
mount the servo in a robot in any way
you need. Like the Dynamixel, it has a
rear mounting hole in-line with the
servo horn axis for a strong joint
connection.
The wCK actuator has a
completely different mounting scheme
and shape to the servo (see Figure 3).
The wCK does not have a mounting
hole on its back side to match the
servo horn mount on the front. The
wCK actuator has an open slot in the
center of the servo that allows a rod
to be attached there. This means that
the actuator arm is at the center of
the servo to begin with.
All three actuator types are of
similar size. The AX-12A is a little
“beefier” than the DRS-0101, and the
wCK units are not square. Figure 4
shows their relative sizes.
All of these robot servos support
a continuous rotation mode and the
attachment of wheels. (“Wheels? We
don’t need no stinking wheels!”)
These actuators really shine when
used to create walking robots.
Toward that end, they all come
with various mounting plates and
joints for knees, elbows, and feet.
Figure 5 shows some of these options
for the Dynamixel and HerkuleX
actuators. Figure 6 shows that the
wCK system is radically different.
Whichever system you choose,
you can build robust walking robots
whose mechanical connections are
simple. The one common component
to all of these actuators is an
enormous number of nuts and bolts.
Well, we’ve come to the end of
another Mr. Roboto. I hope you have
learned something that you can use!
Keep those cards and letters
coming to roboto@servomagazine
.com and I’ll do my best to answer
them! Until next month, keep those
robots running! SV
SERVO 10.2013 13
Figure 5.
Figure 6.
