We all know of those simple hexapods that make use of two motors and a mechanical construction to generate an ok working leg movement.
The only problem with those is that they aren’t sophisticated. They do have an advantage though - they are much more energy efficient. An two-actuator hexapod with motors with the combined power of all servos on a 18DoF hexapod would be quite a lot stronger than the 18DoF one. What if we combined the two types then?
Lets connect all legs to an mechanical construction that will generate good leg movement to a pair of strong actuators. We’ll have to build it very dynamical for when the next part comes in. Now we connect smaller actuators to be able to adjust the legs in height and direction. By doing this right i think the smaller actuators could be freed from bearing the weight of the hexapod (maybe by connecting them to a worm-gear).
I’m not a mechanical genius so I’m not sure if we would win any efficiency (due to efficiency loss on advanced gearing and other mechanical connections). If you have any ideas on how to construct it then post it! I just got the idea and is still considering whether or not i should dig deeper on this idea.
If it works, it would make a really cool a-little-bit-heavier-of-road-hexapod or maybe even a ridable one!
I had this idea about 3 years ago.
the idea of making it much more energy efficient using minimum amount of motors.
The idea of this project was to use one motor to control all the hip movements and an other 6 for the movements in leg lift!
Here is the design:*
I WILL MENTION THAT I OWN THE DESIGN RIGHTS TO THE FOLLOWING DESIGNS, AND THAT THEY ARE PROTECTED, BUT I AM WILLING TO SHARE THE (IDEA!)
The design will only allow the robot to walk in one direction (non-omnidirectional)
i hope you find this of interest and use the idea in good faith!
[size=75]I WILL MENTION THAT I OWN THE DESIGN RIGHTS TO THE FOLLOWING DESIGNS, AND THAT THEY ARE PROTECTED, BUT I AM WILLING TO SHARE THE (IDEA!)[/size]
Thats one creative solution for a tripod gait! Maybe turning could be solved by using two wheels and/or two motors in the center? Maybe one motor with two independend electromagnetic connected wheels Just thinking…
nice thoughts there!
maybe sometime in the future i will reconstruct it and post a vid, but my other projects come first
i think i still have the micro servos laying about somewhere so ill dig them out and put them on my desk. hopefully ill get tempted to do the rebuild…!
The mechanical advantage arrangement is what makes the 2DOF legs strong. Unfortunately it removes the linear positionability from the leg. This makes it impossible to walk in a graceful way.
Hitec is scheduled to release a 100kg cm servo in early 09 that will make a lot of cool things possible. HIS-100SG.
You amaze me with the innovating design! I really would like to see it in action. Maybe I’m thinking the impossible but imagine it powered by a steam engine! That should be soo… COOL!
Just thinking… 
