Folks - I am assembling a Lynxmotion 3DOF T-Hex hexapod. The kit comes with 1.875" spacers, so the interior width of the chassis is - surprise! - about 1.875". I would like to increase this width (using Al spacers) to 2.5", to allow me to lay a Mega Arduino flat inside the chas…

Hi Atomic_Penguin, It will indeed affect the inverse kinematics but nothing you cannot change. In the code you will find the body dimensions which is going to be changed according to your particular hexapod ( HERE ) :slight_smile:

dialfonzo - Thanks very much. This gives me confidence to go ahead and modify the width of my T-Hex.

dialfonzo - if I can bother you again: The distance measurements in the Hex_Cfg.h file that you pointed to must be specific to a particular model of hexapod. Do you happen to know what model is represented by the dimensions listed in this file? (It looks to me that the dimensi…

I was actually going this way and looked at the original code in basic-stamp for the dimensions. It’s possible to open in notepad++ as well. thex_3dof_cfg.bas (5.8 KB)

dialfonzo - Yes, that is the BASIC cfg file that I found. I see that, in addition to having different BODY DIMENSION values (from the CH3-R), the MIN/MAX ANGLES values (“mechanical limits”) are also somewhat different. I have not been able to find the definition of these angle…

My understanding of the values would leave all the angles as they are in the thex_3dof_cfg.bas and only change body dimensions.

OK - thanks dialfonzo, I will go ahead and use the MIN/MAX angle values shown in thex_3dof_cfg.bas, and hope the robot does not explode. Note to other Forum readers: Does anybody else out there know how the MIN/MAX ANGLE values are derived? Thanks Atomic_Penguin

In this post, one guy explain the way those values are used: [image] Phoenix code any 3DOF 18 servo hexapod General Discussions Ok go ahead and power your Ok go ahead and power your hexapod and connect your USB cable to the Botboatduino and …

dialfonzo - OK, thanks very much again. I will look at this forum discussion.

Chassis Width for 3DOF T-Hex Hexapod?

Lynxmotion Legged Robots

dialfonzo January 22, 2020, 1:47pm 10

In this post, one guy explain the way those values are used: