Mini Hexapod

Lynxmotion Legged Robots
1

Hello everyone,

I have recieved SES and electronics for Mini Hexapod project. And truly speaking I havnt seen such an impressive packaging before,it’s really appretiable.Everything is so clearly labled and independently packaged that it really gives the customer a satisfactory feeling.

I have started this thread to inquire about the queries and problems I might encounter during this project.As this is my first project so it’d be great helpful to me if you’d help me in my lame queries as well.

The first thing i’d like to ask about is servo’s position.Do I need to position the servo in some particular home position before connecting them to the SES or are they already positioned by default?
Secondly, for connecting the servo to a leg,do i just need to screw its horn with the bracket?

Kindly let me know any preliminary steps i’d have to take before the main,Your assistance would be higly appretiated.

Thanks

2

Before attaching the servos’ output horns to the brackets and other mounting points, you’ll want to center them. I believe that is the document that you’ll be pointed to most often, in order to set the midpoints so that the servos are attached “straight”. That way, the “home” position on your servos will have all the legs in a more-or-less “straight out and level” position, rather than having them point every which way.this

3

Here is a tutorial for servo horns, it will help.

lynxmotion.com/images/html/build111.htm

The only thing that is important when you build the robot, is to make sure the servos are centered, as shown in the above link. And the joints are centered, as you build it. This will ensure each joint has the range you need when it’s moving. You can also check out the tutorials for the other hexapods for more information. If your making a 2DOF hexapod then check these out. :smiley:

lynxmotion.com/images/html/build079.htm
lynxmotion.com/images/html/build074.htm

4

Thanks alot for that link, it has helped me in understanding the centre position of servos.

5

The servo horns attached with the servos are non-tapped. What drill bit size I’ve to use to tap the holes? Is it possible to tap the holes by directly screwing the tapping screws into the horn?

6

If you force the screw through the servo horn without a whole already made, it will break the plastic (dont try this!!) To find out what kind of drill bit to use, simple compare different size drill heads to the hardware the servos came with. Im sure there is a totorial for this on the LM website. Search around in the “How to” section and you should find it. I’ll give you a link if I have time later… :laughing:

7

Screwing a #2 tapping screw into the holes of the nylon servo horn will not break them. Using a #4 tapping screw can definetly split the horn.

8

Oh, I thought he meant making a whole by screwing in a scew onto a non tapped servo horn…my bad :laughing:

9

Hello,

I am building a mini 2DOF hexapod with SES. My inquiry is about the default position of this hexapod. As said in tutorial the legs are supposed to be parallel and perpendicular to the hexapod body.Is this true for this particular hexapod as well? considering the position of the hexapod in the following figure in which the legs are tilted to some angle.

lynxmotion.com/images/jpg/minih23.jpg

Thanks

10

Search this forum for “servo offset pulse” and you will find a lot of information on how to do it, and how it works. The image you linked is just an isometric image that looked good. It was not intended to imply the servos were centered. The current hexapod 2 tutorial doesn’t cover the servo offset calibration very well but we will try to update it soon. Because the Atom programs we are offering for the 2DOF hexapods allows everything to be altered (leg lift, body ride height, etc.) it’s not so important what position the vertical servos are set up to, but rather that they are all the same.