I got them at SkyCraft Surplus but it is one of those items you just see in the aisles when you are browseing and shopping.
I am flying to Orlando tomorrow and plan on going to SkyCraft before we leave to go see my mom for Thanksgiving. I will try and pickup a hundred or so of the nylon inserts if they still have them.
Carl
Thanks Carl!
I’d appreciate it!
What are they called? Are they special for R/C servos? I don’t believe I’ve seen them before.
Alan KM6VV
As for what they are called, I believe they are just shoulder washers. That is the name I have always known them by.
Carl
Hi Carl,
Just shoulder washers? they looked like they had a little index tab to key into the servo; must be my imagination!
Alan KM6VV
That’s what a shoulder washer is… I’m guessing it’s just coincidence that it fits the servo holes.
A while back I saw a video of a hexapod that used its front legs for pincers to pick up something and carry it around. Well, I thought about that and decided I wanted to add that feature to my hexapod but how to do it was the big question. Finally, I was browsing the Lynx site and saw these pieces, lynxmotion.com/Product.aspx? … egoryID=87, Low Profile Axis kits, and new that was the ticket.
Since today is miserable outside, which means I can’t fly my helicopters, I decided it was time to add the pincers to my hexapod.
I have not finished all the code just yet but she is still walking and moving and that is a good thing.
Carl
http://www.thequickster.com/images/IMGP3819.JPG
http://www.thequickster.com/images/IMGP3820.JPG
http://www.thequickster.com/images/IMGP3822.JPG
http://www.thequickster.com/images/IMGP3825.JPG
http://www.thequickster.com/images/IMGP3828.JPG
http://www.thequickster.com/images/IMGP3831.JPG
Nice! Those LPAs added quite a bit of added abilities! when you have the code done, you have got to get a Youtube video of it! 8)
Hi!
Very creative! I guess those Low Profile Axis kits make the femur part a bit longer? But since you are working with the code (IK part…) you hopefully has it under control 
Would be fun to see a video of these nice pincers in action!
Great job! 8)
Thanks for the comments SN96 and zenta.
The LPAs only add about .5" to the femur so that is not too bad. I may make some new brackets for the front legs and make them each .25" shorter.
Carl
Wow, Carl! That is an awesome use of the LPA. I have never used the LPA so far, but am going to have to investigate the possibilities. I have some new ideas… 
Come join us at the HexaPodRobotIK group! We need you there. 
Be sure to edit your membership and select “Traditional” instead of “Full Featured” to cut out all the Yahoo stuff in messages.
I just got a WowWee RoboQuad.
8-Dale
WOW! That is really creative! This should be made into a totorial on LM so others can learn how to modify their hex’s like this. Its super cool and must be a real useful to have use of picking up objects with the front legs instead of adding an arm to the top (which can be way more expensive).
Cudos! Excellent idea IMO 8)
Hmmm, facinating… This might be workable with the CH3-R leg style, even to the extent of allowing for the 0.5" or so added length to the leg. If I understand how IK works, it should be possible to adjust for that in the software.
8-Dale
What I’d really like to know is if you can get that thing to walk on only four legs (while the two front legs are holding an object). Quads are harder to make walk because there is on weight on 2 legs at a time when walking - not to mention the weight of the object your carrying will make the robot quite front heavy and will be a challenge to distribute weight into the back more when walking.
Although, if it does work, again, it will be a neat way to be able to pick up objects with the bot without the need to add an arm or some kind of pinsers.
So when you get it to work I think we should make this a sticky or perhaps a neat totorial on the website. Its a low-cost idea that is more “life like” or animal/insect like (rather than having an arm strapped to its back)
This will be the interesting thing. Can it actually walk on four legs and balance while using the two front legs to hold something? I am positive this could be accomplished with an octapod, because then you would still have six legs for the robot to walk on while gripping with the front two.
This will be a bit if a challenge to do with four legs, but I believe it can be done.
I would love to see a tutorial such as this, and other things that would use the LPA. Now I wish I had a hexapod to tinker with.
8-Dale
Hi Carl,
Yes! That’s what I was talking about! Although I was thinking of putting the new rotating joint up next to the coxa. How does it work where you have it? Makes a LOT of sense.
The Tibias seem to work for grippers as well! I suppose one could add some sort of serrated rubber grips along the inside of the “leg” to improve the gripping area.
Well done! And the pix are great, lots of detail! looks like I need to order some parts!
Might be just a little tight on my 'bot, as my body is smaller. But I do want to try it!
Could probably just make shorter tibias; but shortening the brackets works too!
(and Dale)
Now He just needs 8 legs! And maybe space them a little more like a spider, with one pair of tibias bigger (the rear). With 8 legs, you’d have a full 6 for walking!
Alan KM6VV
I need to see if there is a 3D model of the LPA assembly, and if not I want to create one. I have been creating quite a few 3D models lately. I need to send an archive to Beth soon (all in Alibre, IGES, and STEP 214 formats).
I am going to see if I can fit something like this on the end of the arm I am designing for the front point on WALTER’s new body.
I am ready to create the 2D drawings of WALTER’s new decks as soon as I figure out how to do it. It’s time to send some stuff off to you. I haven’t even gotten in to trying to learn how to use the new AlibreCAM module yet - I don’t have nothing to use it with.
8-Dale
Hi Dale,
I’d like to see those parts. I might get to order them for Christmas. They’d look good on two more legs!
I should send you the drawings of my current body, or an octapod body (you have it) I was working on.
For the end of an arm, you can just use the regular gripper! No need to mix legs w/ grippers.
I thought you were done with the deck drawings? Yeah, get 'em drawn up and out to me. Don’t worry aboud the gcode, I can make it myself!
Alan KM6VV
I will have to look. I don’t remember them. I can model pretty much anything if I have the necessary dimensions.
I am thinking more along the lines of a different gripper style. I do plan to use the Little Grip though, with some sensors above and behind it. I need to make a model of the Little Grip and Little Grip Attachment kit. I’ll ask Jim.
Well, I kept getting good ideas for changes, and had to make some changes in order to accomodate proper mounting of the arm on the front. One change required another change, etc. I added a servo cutout at the front point of the bottom deck.
Now to figure out how to make the 2D drawings you need to cut WALTER’s new decks - those I can send to you in a zip with e-mail. I have everything else and just have to box it all up and send it off to you. I’ll do that as soon as I get a semi-dry weather day.
8-Dale
You beat me to it! lol I was going to do the exact same thing to my 8 legged bot I built up over the weekend. I’m posting a separate thread for it. Idea, what about installing spacers in the other 4 legs so the femur remains the same length as the front legs? You did it right with the 645 servos as well. Very very nice build! 8)
Thanks, Jim!
I had ordered some spacers but did not receive them yet so I went ahead and did the build anyway. It really did turn out good.
I am going to try working with the IK code this week and make adjustsments for the added length on the front two legs and see how that works. I also need to refine my four leg walking so she can pickup something and carry it.
Right now she can hold a smiley but not carry it. 8)
Carl
