I am working on a Stair Climber robot. I have decided to recreate this Lego Mindstorms stair climber. However, I am not sure how to implement the linear actuator for the rear wheels. I am hoping I can find a DIY solution.
I found about the slider crank mechanism after some searching. I want to use a servo for the rotational motion and I need the linear actuator to move about 15cm.
I am unsure about how long should each of the pieces be in the above pictured mechanism for a ~15cm movement and also how high torque should the servo be rated for, given that my robot will weigh around 800g.
Please advise.
Thanks