Hi all. I present to you my O.L.G.A. - mini octopod (Octo Legged Giant Arachnid). It was my diploma project, first, here is the abstract:
The work deals with a design of eight legged walking robot model. Over the proposal was to establish criteria, such as workspace size, speed and movement of the robot kinematic difficulty in walking and turning. The proposal was three design options from which the application of established criteria of value analysis chose the best option. The selected option was simulated in the program SolidWorks 2009 simulation Motion analysis. The results of simulations to create the graphics load values of servo drives. Individual parts of the structure were optimized, which allowing to obtain a decrease in the load servo drives. The resulting structure is produced and implemented on real models. And it may be useful for many other works as a solution of inverse kinematics, sensor equipment, and sophisticated equipment on the robot, etc.
Second, here are a pictures and videos. Tomorow I will post more info. 8)
Very nice mechanical design on your little octopod!
I do see the future benefits of using the new ARC-32 especially for small hexa/octopods instead of the BB2/SSc32 sandwich.
Hi, yes I using the 24x HS-55, because large servos are too expensive. But let’s go to do summary:
HS-55 … 24x
mini ABB … 1x
SSC-32 … 1x
material dural … 4 mm
weight … 966 g
lenght … 230 mm
width … 227 mm
height … 134 mm
If someone need something other ask me. 8)
Yes, that is right it is necesary, how you can see that sandwich miniABB/SSC32 is too hight for litle robots The new ARC-32 would be excellent solution.
Thx a lot
hi and welcome. yes that a very nice project. i followed your link and i see you have some interesting features on it. i like the little flap created on the chassis.
cleaver idea for the foot. how much grip are you getting.
8)
I was wondering about the total weight, you’ve got some pretty alluminium parts which look pretty heavy for the 55’s. But then again, it moves like it can easy carry the weight.
to innerbreed: THX yop that flap on chassis is for battery pack (6x1,2V and 9V battery). What grip I’m getting? hmm not much, but it was necesary if you need walking on the wood table, how you can see on videos. That foot upgrades is from rubber material, usually used for glass tray for more grip. You can look at my other videos in my playlist on youtube, there is walking on an inclined plane with a gradient of 10 degrees. The board is a little oily somewhere.
How you can see from the graphs, maximum torque what is needed for femur servos is 66N.mm=0,66kg.cm. It is maximum torque, which is required for the position of the four legs while robot walking.
to Bogomir67: I saw your project. I use Motion Analysis where all servos have RotatoryMotors for moving. All RotatoryMotors have Motion settings like as Interpolated-Displacement and 24sec. informations (what angle must they have) for each servo in each sec… Then need export results - Forces - Applied Torque - Magnitude and that’s all 8) See help or some tutorials forums or something other for more informations about simulations
I’m highly suspicious. Did you see that desk? Neat, clean organized and almost empty. No one interested in robots has a desk that empty. you sure you made this?!? The two computers makes up for it a bit, but still!
Seriously though, good work. Looks like a nice clean bot!
innerbreed, If I understand you correctly, there is not any space inside the chassis, because there are batteries 8) and if will be batteries somewhere outside there are coxa servos and miniABB/SSC32 are too wide. When the servo should turn for example to the right, it would be in collision with miniABB/SSC32. So the answer is no there are any places inside the chassis for miniABB/SSC32. My chassis is design for miniABBSSC32 located on the top side. Bigger chassis would be heavy for HS-55, but i’m sure you know that.
Hi Xan thank you. I’m using SolidWorks for a school. How I wrote in first post, it was my diploma project 8) That graphs were exported directly from SolidWorks.
What servos are you using?
The new ARC-32 would be excellent solution. 
to innerbreed: 
hmm not much, but it was necesary if you need walking on the wood table, how you can see on videos. That foot upgrades is from rubber material, usually used for glass tray for more grip. You can look at my other videos in my playlist on youtube, there is walking on an inclined plane with a gradient of 10 degrees. The board is a little oily somewhere.
yop, OLGA can walk with her weight because project are designed in program SolidWorks and all test and simulations were good. How you can see on the graphs:
I cleaned up my desk, before she will be able to walk on a desk. (she is OLGA) And I hate a mess on my desk 
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