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basbr123

hexapod

by basbr123 Jan 24, 2019
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How did you get the servo's inserted into the femur? No matter how I move it, the servo's wires are always in the way..

that is indeed a problem i ran into as well
i opened the bottom of the servo so the wires could be freed.
then i inserted them in the femur and closed it back up again.

Ah that makes sense, thank you so much! I'm extremely impressed with how you managed to make everything printable without supports, it works like a charm!

thanks a lot!

i would love to see how yours turned out.
do you know what kind of code your gonna use?

I'll post some pictures once I've printed the other 5 legs, that's still gonna take a while tho haha.
As for code, I plan on using code from the Nearly Universal Kinematics Engine (NUKE) project for the kinematics.
I plan on using the code on a raspberry pi. As the engine generates C++ code, it hopefully isn't too difficult to replace the arbotix-specific function calls with regular PWM for the servos.
Link: https://vanadiumlabs.github.io/pypose/nuke-intro.html

Hey, with which material did you print components? (PLA or something else)

i printed all parts in PLA, but i noticed that the servos in the femur get pretty hot so it might be a good idea to print those in ABS.
a all PLA print works fine for me though.

What you used to build this ? ( i mean programming boards? )

i used a arduino with 2 16-channel pwm controller boards

Hmm tnx do you have video about this robot running?

im not actively working on the code so you will have to do that yourself if you want it to run
this is as far as i got https://www.youtube.com/watch?v=bXCIr2HDUfU&feature=youtu.be

the servos listed are discontinued is there any replacement that anybody knows of?

I chose these servos because they had that little nub in line with the output gear.
In hindsight i should have made a bracked to connect the bottom part of the leg hinge.
Ill add it in a few days so you can use any standert servo.

Pls add it...to use mg996r servos

it's already there, it should be compatible with the mg996r

If i created this robot with your code how do I control it?

fantastic, thanks

i added a servo plate adapter to the files, now it should be compatible with most servos of comparable dimensions

Can you share the code please!!!!this is a awsome robot...pls

i added a link to the code that i have in the description.
it is still incomplete but it is a starting point.
i hope this helps.

beautifull design I was searching this :D
I want made one what is name servo motor and bearing .what did you use screw and nuts.

With the fotos it should be easy to assemble, do you have the bearings/servos?
If you have any quastions feel free to ask

Yes. I don't know the difference between the tibia right and left. Should I print three of each? Now that I'm asking the question I think I answered the question myself :)

You can print 3 of each, or 6 of one side, it just determes wich way the servos are facing.

I'm printing this now. I have no clue how to put this together.

How many servos do you use? Can you please share your design?

the hexapod has 18 servos, 3 for each leg

i'm gona keep the design file under wraps for now, i might want to do more with it later.

Nice! I will try to resize it to a 200 x 200 printer bed and smaller 9g servos.

dont know how wel that will work, but good luck!

Verry nice design. In the proces of printing one