HexaQuad(a really big 4-gaited hexapod)

Lynxmotion Legged Robots
1

Hey guys,
Here is a project im mentioned a while back. It is a giant hexapod which has claws on its front feet. It has both walk and trot gaits and is capable of walking on either 4 or 6 legs. There is also a mode to control the claws directly. We are using two wiimotes to control the bot. It encompasses a 3.5 foot diameter when standing and the claws are capable of crushing cans.
Here are some photos and videos(of the prototype leg) of the project so far. The hardware build is nearly completed.
http://hphotos-snc3.fbcdn.net/hs580.snc3/31588_10150202450530002_543895001_12278570_826813_n.jpg
http://sphotos.ak.fbcdn.net/hphotos-ak-snc3/hs085.snc3/15322_10150203047200002_543895001_12291988_4280937_n.jpg
http://img88.imageshack.us/img88/5874/img0913large.jpg
youtube.com/watch?v=5ReoMRYK_zg
youtube.com/watch?v=8MttSo6f8WI
youtube.com/watch?v=yQOYpomB-EY
youtube.com/watch?v=LFpE7KvXYBo

Some of the wiimote controls and video feed still need some work. It is already much more reactive than in the videos.

2

Thats one heck of a robot! I love the way all of the pieces seem to look so nice the way they fit together giving it a menacing appearance. I’ll love to see that thing walking.

3

:open_mouth:
Wow! Thats one awesome looking hexapod!
Great parts and it looks like you’ve access to a great workshop too.

What servos and gear set (from servocity?) are you using?
Add two more legs and you’ll have a crab… :laughing:

Looking forward to see more of this project.

4

hi Tyler.
been following your progress on you tube but its great to see you have started posting a thread on your project. great to see it coming together. looks like a beast.
cant wait for it to walk.

good work.

5

Very impressive work. I would have loved to see a video of one of the parts being water jetted.

6

Hey guys, sorry for the delayed response, ive been busy finishing up some of the hardware and wiring(lots of extensions). The bot uses 22 servos(most of them are HS-7950TH. The gearboxes are 8.6:1 with an operating voltage of 6-6.4 volts. I am attaching some stand pictures. The weight seen in the claw in one of the photos is 2lbs. Based on the difficulty of the lift, i would imagine it can lift at least twice that.
img63.imageshack.us/i/img0938large.jpg/
img514.imageshack.us/i/img0937large.jpg/
img72.imageshack.us/i/img0947large.jpg/
img709.imageshack.us/i/img0949large.jpg/

Sorry SN96, no water jetting videos. The process was very tedious because of all the organic cuts. We had to stop the machine after each cutout because the shapes werent falling down. Instead, that were rotating up and locked into a position where they would collide with the head. We have a ton of salvage parts because they alignment would get thrown off.