yay, they came in. quick too. ordered saturday came today. good thing im in toronto
Heres my leg design. the part marked with the cross is the center point of the servo joint which measures roughly 3.7 inches off the ground.
img585.imageshack.us/img585/2519/oopopoop.jpg
Comments on how it looks? Im going for an aggressive look but trying to not over do it. Alan if you could chip in and have a say on what you think
hey guys back after a while, still improving my design and studying for my final exams. heres what im at for the newer design which i will be 3d printing instead of cnc’ing from aluminum.
Looking good - very Mech-like. :mrgreen:
Thank you! 
i liked this better because the 3d printing allows me to have more freedom with my design and to add more spots for leds and things rather than having a flat leg cnc’ed from aluminum. it should be lighter also!
Design looks a lot more robust.
Are you using ABS? I don’t work with the stuff much, but your leg appears rather thick. Similar contour on both sides? Thickness looks to be .2" on both halves? I guess you’ll have to make a part or two to tell first.
HTH
Alan KM6VV
Thanks Benson!
And Alan, i havnt decided on material, im going to take a trip down to the prototyping place and see in person the different materials they can print.
Also the thickest point in total is 1.2cm. 0.6cm per side. And thinnest point is 0.7 or 0.35 per side.
That’s not that thick then. I was scaling to the quad rule paper in the background (or so I thought). So your legs are not that thick.
Alan KM6VV
Yep. Im thinking of making it a bit thicker. Maybe a .2 or .3 more to be more proportioned.
Also, note that the part does not need to be solid - you can set the infill to whatever % you want and the part will still be robust.
Like add a circle cutout, or two.
Alan KM6VV
Add a circle or two?
lol
Update!
So this week i should be done my designs for the leg, shoulder, brackets, and body. Im going to print one of each out of some cheap material and test fit stuff and see how it looks. Ill make any changes if needed and print my final in august.
I had a question, would it be okay to use both a arduino, and raspberry pi? My arduino and ssc32 are going to be for servo control, but the head has a camera and the raspberry pi is the only board (besides the beagle) that can support real time video output, and in hd. The head with camera will have move left and right. Im asking because ive already started C programming, and the raspberry uses Python. Any input would help. Im also concerned on the battery if i were to use 3 boards.
Thanks
The Raspberry Pi(RPI), is a simple cost effective Linux box, which you can program in several different languages including C/C++.
I have ported the my C conversion of the Phoenix (hexapod) code to run on a Raspberry Pi. I currently have one that is controlling a Lynxmotion T-Hex robot. I also have the same code base compiling on a few other small Linux boxes, including a BeagleBone Black(BBBk) (github.com/KurtE/Raspberry_Pi).
There are several threads that talk about this, including:
viewtopic.php?f=25&t=8607
forums.trossenrobotics.com/showt … -to-play….
forums.trossenrobotics.com/showt … -ODROID-U2
Likewise another member (KevinO) has has also ported the code over to run on the Raspberry Pi, there is lots of details up on the forum:
forums.trossenrobotics.com/showt … spberry-Pi
After he did a lot of great work on this, he found he still needed (or wanted) more horsepower and is in the process of converting to an Intel NUC. More details on the
thread: forums.trossenrobotics.com/showt … -prototype
Note: the readme of my github as well as these threads (and others I forgot to mention), mention some details about video processing and the like. Will be getting more into that as well. Have a new camera arriving later this week (newegg.com/Product/Product.a … 6826785030). Will be talking more about these on some of the other threads… Don’t want to hijack!
Hope that helps
Kurt
Hey Kurte, thanks for the reply.
Yeah that answers my questions. Im going to ditch the arduino for now and see whether i can get the ssc32 working with the pi. Im sure others have done it. I was going to use the pi camera board for the camera. HD recording and output, its a beast of a camera.
Ill keep updating this. Ive been slow because of summer school. (Yes i failed grade 11 functions)
Ill PM you if i have any issues. Thanks Kurte
Looking forward to seeing how it progresses.
Sounds good. As for connecting up the RPI to an SSC-32, I have done it two different ways. The one that is in my T-Hex was a prototype of the SSC-32u which has a USB connector. So I connected it up to the PI through a powered USB hub. I have a powered hub as the RPI does not handle very much current on the USB bus and I also have a Wifi adapter connected to it as well…
Or with currently shipping SSC-32 you have two ways. You could connect it up using a USB to serial adapter, such as: robotshop.com/productinfo.as … lang=en-US . You can also use one of these adapters as well to connect up an XBee to your robot as well.
Or you can try to use the built-in USART that is brought out to the expansion header. However the SSC-32 has 5v signals and the RPI is a 3.3v processor which is not 5v tolerant. So you need to convert the signals. Some of the adapter boards may do this for you, or you can use something like: sparkfun.com/products/8745
Also by default the USART is setup as a debug console. If you wish to use it for something else you will need to do some updates to the configuration to free it up.
If you use my code, by default I have it setup to assume it does it’s IO on the device: /dev/ttySSC-32 . I have the system setup a symbolic link with this name to the actual underlying device, which is something like: /dev/ttyUSB0 My Readme.md file of my github project talks about setting this up. I try to update this file as I learn different things, so I can remember them when I setup the next board, or the I need to re-setup the current one…
Kurt
Cool cool. Im going to order the pi this week or week after. Maybe when im having the final parts printed ill order my electronics at once.
One thing i wanted to know was what is this in the picture below? Circled in red.
http://imageshack.com/scaled/large/836/81du.jpg
Im sure its not a linear actuator. Is it a piston? Like a shock absorber? I thought it looked badass, and if its not too expensive i would add that into my design as a sort of “muscle” on the shoulder between the leg and body.
Thanks guys. Big help!
Looks like 4-bar linkage, to make the tibia move parallel to a vertical of the coxa joint.
Alan KM6VV