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Printable Hexapod

by manchi, published

Printable Hexapod by manchi Aug 11, 2011

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License

GNU - LGPL
Printable Hexapod by manchi is licensed under the GNU - LGPL license.

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Summary

This is a printable Hexapod. It is still not very stable and still learning to walk, but it is a good start. It needs some changes in the leg design as sometimes they bend under the weight.
The initial design is based on :
http://robozone.su/forum/textversion.html?t58

The changes I have done are the additions described below and also decrease the size of the Body plates to fit a standard Mendel.

And I am currently using this software to control it:

http://www.hexapodrobot.com/forum/viewtopic.php?f=25&t=160

Be aware that the hexapod is still not very stable (legs bending) and that is why it is work in progress.

Instructions

Print Body_Up and Body_down for the body.

You will need the basic:
6x Fuss
6x Bein
6x Moto1
3x Moto2
3x Moto3 ( this is the same as Moto2, but in the other direction)

Addition:
bracket1-3 are additions for Bein. It makes the leg moer stable and does not bend. You will need also Bein2. Check the legs on the picture.

You will need 18 servo machines. The legs are being gathered with M3 bolts and M3 rods.

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Very nice hexapod kit! Yes the fuse part of the legs do bend a bit but there is an easy fix! Just print out two for ever leg and put one on each side of the servo and a spacer at the foot with a bolt attaching the two when go to mount it! After that seems to be rock solid and does not flex much now. I printed everything with 40% infill .02 layers as well if helps anyone trying to build this! I plan on posting few photos shortly when I get my digital camera back lent to friend. Also the round servo horns come with the tower power MG 995 servos fit the inlays on arms and body perfectly for a nicer look, Then normal 1 inch arms shown everyone using!

Hi,
Have you the 2D project for this hexapod?

Hi, Sorry, it was too long ago when I worked on this... you can search in the forum from the description.

im new to the hexapod world and have always wanted to build one but im not sure weres the best place to get all the parts and info ill need, what would you guys reccomend

can you please let me know what length stand offs to use

Hi
I would lie to build this but i dont understand nothing of eletronics...
Can you welp me assembly it and make it work?

Thanks

Hi,
I would recommend following this guide to get you started http://www.lynxmotion.com/images/html/build159.htmhttp://www.lynxmotion.com/imag... . You can buy a control board like ssc-32 for the electronics part. The tutorial from the link explains it.

great work mate but having problems with slic3r .

moto1

moto2

moto3

all have 0 layers errors,
not manifold near edge, (when loading)
and overlapping and self-intersecting faces. (when slicing)

can anyone help?

thanks!

Do you have the opencad (or other software?) files for these?

Dont suppose you still have the original AutoCad files you can upload?

Thanks!

Here you go:

http://roboforum.ru/forum88/topic6528.html?hilit=Anubis%20v2http://roboforum.ru/forum88/to...

By the way I would recommend if you recreate from the cad files to create the plates more wider and longer cause otherwise the servos are pushing eachother. I think I have updated the files here... it was quite some time since I've uploded this thing.
I can't help you out with slic3r cause I haven
't used it, but I can export these from solidworks in any format if you like... I have no problems at all with skeinforge

Thanks. I'm looking for a base to work from and this is very close to what i want. I plan to print the top and bottom body in two parts and join them together with supports. Im using AutoCAD 2010. So a set of plans/models in .DWG would be fantastic.

By the way what is the shield part for? I do not see it anywhere in any of your pictures.

Did you ever get it working well?

Thanks again!

Alex

With this design you do not need supports. Top and bottom are separated by the servo brackets. The shield is to better support the motor with a screw. Yes I managed to make it move... all problems are with the software... movements and calibration. I will double check if I have uploaded all my latest changes on the design.

Yes, they were converted from Autocad to Solidworks and a little bit manipulated to fit the Mendel bed. If these are good for you I will upload them somewhere so you can download.

That would be great; I would like to start there instead of from scratch...

it is attached now. SWD.zip

do you have any video of it walking? =-O

Still working on that part :) I have been experimenting with rubber band to make the legs more stable and have much much better results. I will post a video once it is really walking :)

great design - adding a lateral ridge to one side of the leg components should improve stiffness without complicating printing or adding too much plastic.

Nice.

What type of servo?

cheap MG996R from ebay as for the test...Later I want to add this haxapod as a base of my other robot http://www.thingiverse.com/thing:9106http://www.thingiverse.com/thi... and might try some better servos

Howme the robot
by manchi
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