HEXAPOD ARDUINO HOW TO
HEXAPOD ARDUINO FREE

Next I have to find out how to do the inverse kinematics (IK) works, maybe I'll program a simple gait like the predefined in the SSC controller. Some days ago I was also using another PWM controller (Adafruit 16-channel PWM controller, ), but the SCC has actually some nice features, like slow down the servos. In this example I'm using the SSC-32U servo controller from Lynxmotion, you'll find it here. The predefined gait isn't working properly because it's design for a 2 DoF. In the video you can see playing some simple predefined sequences, actually there's no inverse kinematics implemented. OK, I know it's not looking very beautiful, but actually I'm experimenting a lot. The Forstner was only 200 mm in diameter, so I had to do some postwar by hand with a chisel.Īll arts are assembled together now. To mount the servo horns through the femur, 2 mm of the material has to be cut off. As you can see the tibia is a little oversized as well as the femur. For this I stacked two boards, glued (for wall paper) the printout on it and cut out the parts with a model craft bandsaw.Īfterward I made some experiments, I haven't documented, and did some optimizations. Make a printout with the right scale was not working correctly with SketchUp on my computer, so I've saved it as PDF, made a printout with 100%, did some measurement and finally printed again with the right scaling factor.įor the first try I was creating only arts for two legs. As I figured out the original seems to be around 1' in diameter, but my servo horns have 21mm. The femur is optimized to the size of the servo horns I'm using. So I was struggling a lot and finally I've decided to use SketchUp.Īfter some hours of of learning by doing with SketchUp, I've finished with my first design of the legs.

HEXAPOD ARDUINO FREE

Inspired by Zenta's hexapod Phoenix, you'll find it in his Youtube channel (and a kit you can find, I've started creating my own from scratch.įor creating if set the following targets/requirements for my own:ġ.) Have a lot of fun and learn new things.Ģ.) Cost driven design (damn, my company spoiled me totally)ģ.) Parts made of ply wood (because it's easier for most people and also me to cut wood)Ĥ.) Using free available tools (software)ĭ) Digital standard servos (found at amazon for a good price).Į) Dosuki and Bandsaw, a drilling machine, sanding paper and a file.įirst I was doing some research in the internet to find out how to do a robot, but wasn't very successful finding good informations of how to do mechanical design. So, I've decided to create in hexapod in my way. You can find a lot of kits by many different vendors in the internet, but they are very costly, up to 1.500$+ for a 4 DoF hexapod, and kits from china don't have a good quality. I'm interested for some years to play around and creating robots and I was inspired very much by Zenta, here you'll find his Youtube channel and his web site.

Hexapod arduino