Hexapod Robot
Posted by martinprice2004
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Hexapod Robot September 16, 2012 03:22PM |
Work continues on the Hexapod robot design.
Two legs are assembled and have the firmware to a stage where the legs move on command for a linear gait. I want to check the firmware with two legs first. The Hexatronic HX5010 servos seem to be up to the job, the inner (Coxa) servos hunted a little, but this was solved by incorporating a friction joint which I can adjust using a nyloc nut from below the robot. The Dagu robot controller is working really well and is easily programmed using arduino compatable firmware. All parts printed on a Prusa.
I am going for a modular design, so I can build a hexapod, quadrapod or an octapod should I wish and also switch in and out leg designs.
Its a bit bigger than I thought, about 500mm wide! so should scare the neighbours.
I would like to do some bowden cable legs with the servos in the middle. Any thoughts on this would be appreciated.
Two legs are assembled and have the firmware to a stage where the legs move on command for a linear gait. I want to check the firmware with two legs first. The Hexatronic HX5010 servos seem to be up to the job, the inner (Coxa) servos hunted a little, but this was solved by incorporating a friction joint which I can adjust using a nyloc nut from below the robot. The Dagu robot controller is working really well and is easily programmed using arduino compatable firmware. All parts printed on a Prusa.
I am going for a modular design, so I can build a hexapod, quadrapod or an octapod should I wish and also switch in and out leg designs.
Its a bit bigger than I thought, about 500mm wide! so should scare the neighbours.
I would like to do some bowden cable legs with the servos in the middle. Any thoughts on this would be appreciated.
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Re: Hexapod Robot September 30, 2012 02:23PM |
The robot is now complete. It took its first brief walk this weekend. Video to be uploaded this week.
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