CH3-R Hexapod Project

exmachina · July 11, 2009, 7:51pm

[size=150]******************************
Last Update 09.08.2010
******************************[/size]

Hello Roboteer’s,

after weeks of hard work I finished my CH3-R Hexapod.

Tech Specs* (MK I Version)*

CH3-R Black Edition

Weight
2,2 Kg

Servos
18x Hitec HS-475HB
Servohorns
Aluminiumparts instead of the original plastic parts

Controllerboards
BB2 with BasicAtomPro28 ÂµC
SSC-32(V2) Atmega 168 / Firmeware 2.01XE

Communication
BlueSmirf Gold Bluetoothmodul

Powersource
Logic
9V 200mAH Battery
Servos
Battery Pack NiMH 5Cell 2800mAH

**Image **
http://www.exmachina-robots.com/mediapool/81/814606/images/FILE0001.JPG
http://www.exmachina-robots.com/mediapool/81/814606/images/FILE0002.JPG
http://www.exmachina-robots.com/mediapool/81/814606/images/FILE0012.JPG
http://www.exmachina-robots.com/mediapool/81/814606/images/FILE0015.JPG
http://www.exmachina-robots.com/mediapool/81/814606/images/FILE0020.JPG
http://www.exmachina-robots.com/mediapool/81/814606/images/FILE0013.JPG

Tech Specs* (MK II Version)* <<< new

CH3-R Black Edition

Weight
2,9 Kg

Servos
12x Hitec HS-645MG (femur,tibia), 6x Hitec HS-475HB (coxa), 2x Hitec HS-422 (pan & tilt head)
Servohorns
Aluminiumparts instead of the original plastic parts

Controllerboards
BB2 with BasicAtomPro28 ÂµC
SSC-32(V2) Atmega 168 / Firmeware 2.01XE

Communication
BlueSmirf Gold Bluetoothmodul

Powersource
Logic
2x 9V 300mAH Battery
Servos
Battery Pack NiMH 5Cell 4600mAH

Leg Light System
6x ultra bright LED’s with 7000mcd

Camera system
wireless colour camera 2,4GHz based

**Image **
http://www.exmachina-robots.com/mediapool/81/814606/images/FILE0304.JPG
http://www.exmachina-robots.com/mediapool/81/814606/images/FILE0296.JPG
http://www.exmachina-robots.com/mediapool/81/814606/images/FILE0285.JPG
http://www.exmachina-robots.com/mediapool/81/814606/images/FILE0299.JPG
http://www.exmachina-robots.com/mediapool/81/814606/images/FILE0289.JPG
http://www.exmachina-robots.com/mediapool/81/814606/images/FILE0292.JPG

For more pictures of the complete robot please visit.
exmachina-robots.com/pageID_8232584.html

For detailed parts please visit.
exmachina-robots.com/pageID_8214657.html

Video

Short Video that demonstrate Walking and Bodymovement abilities

SSC-32 Sequencer Project

SSC-32 Sequencer Advanced Play Mode (iPhone Control)

CH3-R MK II Leg Light System

CH3-R MK II Pan & Tilt Head Demonstration Part I

CH3-R Hexapod Project / Upgrade Process from the MK I version to the MK II version

CH3-R MK II Pan & Tilt Head Demonstration Part II

Extensions

Hardware
-Bluetoothmodul >>> Confirmed
-Powersource Upgrade >>> Confirmed
-Servo Upgrade to 12x Hitec HS-645 MG >>> Confirmed
-Leg Light System(red) >>> Confirmed
-Pan & Tilt Head for a 2,4 GHz Camera and Sensors >>> Confirmed

Software
-code for separate head control >>> Confirmed
-facetracking with roborealm

I keep you informed about upcoming updates.

Thanks for reading and your interest
ExMachina

www.exmachina-robots.com

xan · July 13, 2009, 11:37am

Nice pictures!

I’m looking forward to see you’re changes/addons!
Keep up the good work.

Xan

robotdude · July 13, 2009, 2:24pm

Nice!.. 8)

exmachina · July 19, 2009, 4:16pm

Hello everyone,

I upload a new video on Youtube with advanced IK settings that demonstrate walking and bodymovements.

Greatings
Matthias

Enjoy!

robotdude · July 20, 2009, 2:42pm

Very nice clean video. 8)

tnay · July 21, 2009, 5:03am

Wow, I see some impressive movement. Walk and change of direction at the same time. Hope some of the movement could be longer, it didn’t quite last long enough to appreciate the gait.

exmachina · August 23, 2009, 6:57pm

Hello all,

just a short update on this project. I extend the robot with an BlueSmirf Bluetooth module to communicate wireless with the robot. The module is mounted on the upper deck. I use some customized parts for the design application and a velco strip to mount the module on the robot.

**Bluetoothmodul **
http://www.exmachina-robots.com/mediapool/81/814606/images/FILE0054.JPG

Bluetoothmodul mounted on Hexapod
http://www.exmachina-robots.com/mediapool/81/814606/images/FILE0057.JPG

Bluetoothmodul with faceplate
http://www.exmachina-robots.com/mediapool/81/814606/images/FILE0058.JPG

Greatings
Matthias

robotdude · August 24, 2009, 2:59pm

Very nice build! 8)

tom_chang79 · August 27, 2009, 12:15am

I love your bluetooth mounting and the harness! I just re-did my wiring in my Phoenix after buying a roll of 16-foot 1/4" harness…

How long did it take you to do the wiring? It took me about 8 to 9 hours to re-do all the wires!!!

exmachina · August 27, 2009, 8:25am

Hi Tom,

thanks for the compliment. The wiring and soldering was not very time expensive. The most workload was to create the faceplate for the bluetoothmodule. I think overall 3 hours of work.

Greatings
Matthias

mannyr7 · August 28, 2009, 2:06am

Very nice and fluid movement! How did you connect your bluetooth module to the BB2? And what code did you implement on the BAP to read data from the pc?

exmachina · August 28, 2009, 8:43am

Hi Manny,

the bluetooth module is connected to the SSC-32 Servocontroller and not to the BB2.

Check out this tutorial
lynxmotion.com/images/html/build125.htm

The code in the video above in the Projekt Thread is generated by Powerpod and the Hexapod was controlled via PS2 remote. I use the bluetooth module actually for my Sequencer Project and if its finished I will announce the video and the project file.

Greatings
Matthias

exmachina · October 3, 2009, 8:35am

Hi all,

after upgrade my Hexapod with an BlueSmirf Bluetoothmodul I start with an SSC-32 Sequencer Project. The Project contains 3 Sequences with overall 580 steps. The robot is “playing” with my Netbook but some movements are not feasible like the bodymovements of a Phoenix for example. I hope you enjoy the movie and feedback is welcome.

Greatings
Matthias

zenta · October 3, 2009, 5:21pm

Hi,
Nice work!
Did you make all the steps in the sequences using only Visual SEQ (plain FK)? If thats correct I would guess that took very long time… Pretty impressive!

exmachina · October 3, 2009, 11:56pm

Hi Zenta,

yes that’s correct I only use the Sequencer for this project. It took overall 8 weeks of work, but I think the achievement justify this.

Greatings
Matthias

zenta · October 4, 2009, 6:58am

8 weeks! Oh my…
You know, that was the main reason for why I made PEP. Saving a lot of time when making custom sequences for a hexapod. I would highly recommend taking a look into that. When you first have found the basics you should be able to make sequences of 500+ steps in 8 hours, easily. PEP is a excel sheet, and you can download it here.

Just a tip.

exmachina · October 4, 2009, 8:54am

Hi Zenta,

I know the PEP but I dont use it at the moment. The reason for this project was to get familiar with the Sequencer tool and its options. The 8 weeks was the timeline for this project but in workinghours I think only 14-16 hours of work. The problem is time and other projects that bonding me. The PEP is a option for the near future to test what movements are possible with an CH3-R typ hexapod. I am sure that the CH3-R can’t move so smooth like a Phoenix typ but I am testing what’s possible.

Greatings
Matthias

robotdude · October 5, 2009, 3:40pm

Nice work on the video!

I’m a little confused here. What would prevent a CH3-R from moving as smoothly as a Phoenix? They have the same servos, controllers, power supplies, etc. The only difference is in the overall size, and some leg motion restrictions on CH3-R.

innerbreed · October 5, 2009, 3:58pm

although they are different sizes i wouldnt have thought that would change its smoothness. but you need to remember that the CH3-R and Phoenix have different body type.

CH3-R has a round body while the Phoenix in kinda oval. maybe there is something there that effect it?

zenta · October 5, 2009, 4:45pm

I would say nothing would prevent a CH3-R or any other hexapod to move “smoothly”. IMHO ,the key to smooth movement are small accurate steps.