Quadruped Leg Shin With Spring Foot
A tibia link for small DIY quadruped robots (SpotMicro / Petoi class) with a compliant leaf-spring foot printed as one piece with the shin, so foot strike is absorbed instead of hammering the knee servo. The knee is a 16.05 mm through bore for two 625 bearings (5 x 16 x 5 mm) on a 5 mm shaft or M5 bolt; a 3.4 mm M3 clearance hole sits on a 20.2 mm lever arm for the servo pushrod, and the rounded toe is cross-drilled M3 for a rubber pad or spike. 111 mm from knee centre to toe, 10 mm thick, printed flat so every bending load runs in the XY plane and never across layer lines.
robotics quadruped 625-bearing leg