I would imagine it is! lol Larger wheels are fine. I found these that fit our 12mm hex hubs, we will probably carry them. Ground clearance with this particular setup wasn’t a priority. There is room for even adding DOF’s to the wheels (wheel on the end of a leg). Even suspension components. The vertical chassis plates makes lots of things possible.
Ok without further ado. Here is my new format. I tried to keep the look and feel, I hope I didn’t lose it. The good points are you have complete access to both boards. The wires plugged into the boards don’t need to be bent over. I can use the normal 1.938" standoffs. In fact the tilt portion of a pan and tilt can be a full size servo using the SES hole pattern under the cockpit. (just like the horizontal hip in the other hexapod chassis) The bottom will not use standoffs like pictured. It will be a tray extending the full length of the chassis. The area over the cockpit will have an aluminum lid for the turret servo, and some stabilizing standoffs. The front and rear will also have aluminum plates with embedded nuts for easy assembly. They will have the SES hole pattern as well. Even this prototype had an interference problem with the stand off by the Bot Boards DB9. lol So there will need to be some fine tuning. Let me know…
Wow, that looks very massive! You sure did surprise me Jim (in a very good way ) .
I would really like to see it with some legs, just for getting the whole picture… Did you increase the outher dimensions, like the length or height? I like that you made complete access to the boards, very convenient.
All the SES holes opens alot of different configurations. Using the shorter standoffs shouldn’t be a trouble for the batteries or the pan/tilt head since you choosed the open solution under the cockpit.
Whew! Wipes sweat from brow. I was hoping you would like the changes. 8) The new design is 0.25" (6.2mm) longer (due to adding rear crossmember), and 0.50" (12.4mm) lower. The turret servo was moved rear ward 0.50" as well. The side windows are a bit more “menacing” looking. I hope to build up some legs for this on our short break.
I have envisioned brackets in all of the locations but one. I just added them for consistency. I will make some minor changes to fix the DB9 issue and get the drawing off to the fabricators. It will be new for 2010! 8) Thanks for your help with this!!!
I love the new design because it is very expandable which is what most people will come to appreciate. Since every person has a wide variety of personal preferences, this design will allow people to use their imagination and make it they way they want it.
The heavier design is not going to be much of an issue if wheels are used.
That was also my first impression when seeing the lower side windows! 8)
I would really like to see a pan/tilt head mounted under the cockpit also I liked that you moved the boards further backward, better for the COG also. Whats the tree small holes on each side? for power switches?
Thats very convenient for fitting almost any battery pack! With all the additional weight, maybe the tray could be made light with several large holes? I’ve also been wondering about the total weight, you are using 1,5mm thick aluminium?
Sounds great!
Like Kurt mentioned the new ARC32 would solve the DB9 issue though.
Yep on the big holes on the battery tray. The chassis will be made from .06", but it measures more like .057 (1.44mm). Of course the ARC-32 will fit without needing to make any changes. But there will be applications for this chassis that will not require the ARC-32, and there are thousands of Bot Boards and SSC-32’s already out there.
Awesome work Jim! Can’t wait to add this to my ever-growing pile of SES parts!!! And what the heck is an ARC-32??? A new BB revision? Can somebody link this for more info?
Hey Kåre, did you by chance weigh your chassis before adding the legs? If I remember correctly I believe 0.06" aluminum is roughly the same weight as 0.118" polycarbonate. So the weight of my lexan prototype is going to be very close to the same weight as the aluminum version.
For reference the weight of the bare CH3-R chassis is 0.693 lbs (314 grams)
The weight of the new vertical chassis is 0.561 lbs (254 grams)
I’m building two of these over the break. One with 4DOF Legs, and one with the Hybrid 3DOF legs. Will post pictures asap.
Yes I did, several times. I thought I took a note of it too but I can’t find it at the moment.
I believe it was around 300 gram +/- including the standoffs. I believe yours a little lighter since I used 2mm aluminium.
If you are comparing to the CH3-R chassis I believe you must include the weight of the 6 C-brackets that holds the coxas too
Sorry I forgot to mention that I weighed the chassis with the “C” brackets installed. So it looks like we are in good shape as far as the weight is concerned. I’m talking myself out of the battery tray, but it might still happen.
Here is the first of several images I’m attempting to take today. This is the original T-Hex 4DOF leg design with my chassis mods. I have not wired it up yet. I think I need to open up the board access even more to make it easier to wire up. It wasn’t impossible, just not as easy as I think it needs to be.
Here are the images if the 3DOF version. It’s using the Hybrid legs I made a while back. I need to get on the ball making this leg into a kit.
Hey Xan, This is what your Hybrid will look like soon. 8) I like this chassis much more than the one you currently have. I also added the longer “C” bracket to the femur as you suggested. It like it. What do you think?
Hey Kurt, I was not answering your post about board orientation because I had not yet wired up the servos on this style chassis. But heck I can’t even find it now. The far side servos plug into the bottom row and the near side servos plug into the top row on the SSC-32. I was able to wire it up with 3DOF legs without requiring servo extender cables.
I love when it all comes together, the 4DOF T-hex looks great! Do you have other pictures of this one too?
The 3DOF hybrid leg version looks scary with the guns mounted
Whats the total weight of the 3DOF version?
It looks like you mounted the 3DOF completely with all wires and battery connected, any vids?
Ah, didn’t you use shorter standoffs?
If you want I can send you the 4DOF T-Hex code, when you are done with the wiring…
Thats great! I had to extended both the tibia and tars servos on the 4DOF…
) .
Probably a lot easier to deal with the usb connector.
