Hexapod Project2012

innerbreed · February 1, 2012, 1:56pm

[size=150]Hexapod Project2012[/size]

About time i started walking again…
im currently working on the TA Tibia for the hexapod so its not finished yet.
http://i531.photobucket.com/albums/dd355/innerbreed/SAM_0549.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/SAM_0548.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/SAM_0547.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/SAM_0546.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/SAM_0550.jpg

http://i531.photobucket.com/albums/dd355/innerbreed/hex-dim-size-1.jpg

akdabaous · February 1, 2012, 2:01pm

Awesome (as always)! It looks like a robotic Spider/Crab - is it going to have fangs so it can eat other robots? :mrgreen:

zenta · February 1, 2012, 2:15pm

Hi Jonny,

Looking great! I’ve seen that little body on a post from you before, somewhere…

Very interesting coxa design. It kinda look like 4 DOF with the femur servo pointing up/out.
Where are you planning to place the BB2?

Looking forward to your next post! (as I always do )

innerbreed · February 1, 2012, 2:31pm

Thanks guys, Well as you noticed its packed with an SSC32 but i will hopefully be replacing this with an … ARC32!

In till i can afford to buy one ill be using a ABB for testing. This can “for now” be placed on the top or bottom. there would be enough board space inside except the Serial port sticking out from the Side hits the standoffs.

Looking this year to get a DIY too.
The main reason for building this Hexapod is to develop it for terrain adaption. i just needed a hexapod to work from so i built this from what i had. 8)

innerbreed · February 3, 2012, 3:35am

Received my micro contact switchs this morning.
Just need to figure the optimum way to attach them.
Been looking at the hybrid tibia.

innerbreed · February 5, 2012, 6:43am

this is the tactile tibia iv designed. From left to right…
1:Center spring plate, 2:assembled parts + main plates x2, 3:tactile tarsus.

Only posted this to see if i can add attachments from my phone… Yay it works.

baidhowi · February 5, 2012, 7:16pm

its cool…
cant wait for video demo @@

innerbreed · February 6, 2012, 12:05am

Thanks.
Well i should hopefully be making the tactile tibias by Wednesday next week when material arrives. And shortly after that ill start programming it.
Then the headache begins. Lol

innerbreed · February 7, 2012, 3:25pm

[size=150]Prototype Tactile Tibia…[/size]
Cut by hand using a Stanley Blade and shaped with a Dremel tool
Material: PVC Foam Board 5mm

Switch Activated

Switch deactivated

robotdude · February 7, 2012, 3:50pm

Wow, and a day early.

Nice work.

zenta · February 7, 2012, 3:55pm

Looking good Jonny.

Hmm, where did I see this design before…

What I like with this design is that the spring allow some “play” in the vertical direction.

innerbreed · February 7, 2012, 3:59pm

Yes very much inspired by Matt’s design.

Cheers. although im not looking forward to cutting another 5.! lol

innerbreed · February 7, 2012, 4:19pm

micro switches.
Servo horn for size ref:

zenta · February 7, 2012, 4:28pm

Wow, that’s some really micro micro-switches!

km6vv · February 7, 2012, 5:57pm

Are you using some sort of ferule (?) on the spring holes?
I’m looking for a thin brass tube with a thin flange to serve as bearing on some of the joints of my jaws.

Alan KM6VV

innerbreed · February 7, 2012, 6:35pm

Yes, they are the little brass eyelet bits you get with new servos.

km6vv · February 7, 2012, 6:45pm

I was thinking of those.

Thanks!

Alan KM6VV

innerbreed · February 8, 2012, 7:24pm

Eric has kindly supported the project with his CAD skills and more importantly his highly appreciated time by offering to CNC my Tibias.

Thanks Eric. A true gentleman.

I have also started to wire up the switch’s ready for testing and instalment.

dialfonzo · February 11, 2012, 4:17am

Did a say that… LOL

innerbreed · February 11, 2012, 4:22am

Err actually your right, you didn’t. Lol.