Welcome to the mechanical documentation of the TNY-360. This section is specifically designed for engineers, students, and curious minds who want to understand the physical architecture and the structural engineering behind the robot.
Here, we will break down the physical dimensions, the kinematic model, the Degrees of Freedom (DOF), structural protection system, and other hardware design philosophies that make the TNY-360 a robust and versatile quadruped platform.
The TNY-360 documentation is still under redaction.
For immediate instructions, please refer to :
The TNY-360 is designed to be compact and lightweight, making it ideal for indoor use, easy to transport, and easy to print.
This robot may be small, but its size does matter. So here are the dimensions of the key parts of the TNY-360:
here are the overall dimensions of the TNY-360, to give you an idea of the size and scale of the robot:
| Dimension | Measurement |
|---|---|
| Length | 350mm |
| Width | 300mm |
| Height | 150mm |
These dimensions are measured from the outermost points of the robot in resting position (on the ground, legs on the sides).
To achieve natural, mammalian-like locomotion, the TNY-360 relies on a carefully calculated kinematic model.
The robot features a total of 12 Degrees of Freedom (DOF), distributed as 3 DOF per leg. This configuration is the standard for advanced quadruped robots, allowing the end-effector (the foot) to be positioned anywhere in 3D space relative to the shoulder joint.
Each leg consists of the following joints:
The TNY-360 uses Inverse Kinematics (IK) to calculate the precise angle required for each of the 3 servos to place the foot at a specific (X, Y, Z) coordinate. If you are developing your own gaits, ensure your coordinate requests do not exceed the physical reach (workspace) of the leg assembly!
To learn more about the kinematics calculations and how to implement your own gaits, check out the Kinematics & Gaits section of the documentation.
One of the most important hardware design philosophies of the TNY-360 is the integration of "mechanical fuses".
When developing and testing a quadruped, falls are inevitable. The MG996R servos used in the TNY-360 have metal gears, but the torque applied during a sudden drop or a software glitch could strip them or burn out the internal motors.
Instead of making every 3D-printed part as rigid as possible, we intentionally designed specific connecting joints to be the weakest link in the structural chain.
It might be tempting to print these "fuse" joints in stronger materials, or to use 100% infill.
Do not do this. By reinforcing the mechanical fuses, you transfer the shock directly to the servo gears or other parts of the robot, which will result in broken hardware that is much harder and more expensive to replace than a 20-minute PLA/PETG print.