There are some Hobby Servos that do have feedback capabilities. Like: Robotis servos (AX12-A for about $45). The problem is that these don’t fit into the same type of brackets like Hitec servos do, but have their own way of being attached.
Orion Robotics is now selling some new servos that I believe would fit into the Lynxmotion servo brackets(orionrobotics.com/Digital-Se … p_302.html) which are about $60 for 220 oz/in of force.
Also I have seen a few people talking about some other new servos by Dongbu (herkulex.com/). I know very little about these.
Thanks for the links guys! :mrgreen:
I’m trying to keep everything as small and as light as possible to conserve cost and hopefully to achieve better results with the same servos, motors, etc.
Those Herkulex motors are pretty unusual but have got my interest; I might buy one at some point in the near-ish future to check it out :mrgreen: - well at least the 320 degrees rotation will be of use to those guys building arms who wanted the 240 degrees. ^___^
Just the updated design for the docking system - taking into consideration the size of the propellers required, I’m currently in the process of trying to make the robot as small and lightweight as possible so that I can hopefully drop the propeller size down to 10" (3 blade). However, the feet brackets will still have to be about 12" long (unless this second idea I’m trying out works in which case, this should number should drop by a few inches - hopefully ^___^).
The image below shows the foot bracket (with the hole for the hole punching hold). Don’t pay much attention to the shape at the moment, I just threw it together quickly for the docking system. :mrgreen:
The cube cut out from the centre of the mating and bottom plate of the system will be where the lock/release mechanism will come through to attach to the top plate so that it can move to lock/release the foot brackets.
P.S. I looked into those 320 degrees servos and they have a pretty nice method of joining themselves together - it’s like a cross between LEGO and Knex. ^___^
Excuse me if I have missed something, so I apologise if this has been covered 'but im confused about how you have this set up. I thought you would be working on a leg design that incorporates a brushless motor?
From your sketchs it looks like a quadcopter frame? Are you just planning on mounting the frame to 6 legs or something.
No sorry, it’s my fault - I’ve been attempting to put together the whole CAD model so you can see how it looks but due to lack of sleep (from partying neighbours ) and an assessment on Assembly Language due in on Thursday, I haven’t really had much of chance to post the whole thing. All you see there are the feet brackets clamped in the docking system (which happen to look like a quadcopter frame). :mrgreen:
I will however, try to post the whole set-up on Friday. ^___^
Followed by the leg in it’s raised Quadcopter Position - I removed the horizontal panning servo since we’re focusing on the raising and lowering motion at this point:
The next few photos are just of the hexapod in quadcopter mode. I should have mentioned this earlier but I forgot about adding the spacers between the leg and foot brackets so you’ll have to use your imagination there I’m afraid. ^___^
I have a question … since all six legs are going to be in the same docked position anyway, would it be worthwhile turning it into a hexcopter?
Also, in terms of controlling the robot - would it be best to use one circuit board for the whole thing or two separate ones - one for the hexapod and the other for the quad/hexcopter?
Great to see the concept.
Id keep it as a quadcopter. I have some questions for you…
Is there enough room for the rotors to turn without conflicting?
Second, how big are your estimates on the chassis?
Also, you could use the middle legs to carry payload if weight doesn’t kill it first.
Well I’ve designed it so there’s about a 3-4 cm gap between spinning rotors - not sure if that’s enough though?
I’m estimating a square base with about 10-12cm side length for this current idea I have (I’ll post sketches for that in the next few days).
When you say “carry payload”, I’m guessing you mean during walking, right?
I did have an idea to have motors with smaller propellers on the middle two legs but that wouldn’t really work because of symmetry issues.
) and an assessment on Assembly Language due in on Thursday, I haven’t really had much of chance to post the whole thing. All you see there are the feet brackets clamped in the docking system (which happen to look like a quadcopter frame). :mrgreen:
