OZER Hexapod V-0.1 Open-Hardware, modular 3D printed robot using Raspberry Pi and Arduino

by SebastianGNU, published

OZER Hexapod V-0.1 Open-Hardware, modular 3D printed robot using Raspberry Pi and Arduino by SebastianGNU Jan 7, 2016
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OZER is a work in progress to develop a totally functional hexapod for exploring functions on unstructured terrains. Keeping as main objectives the development of a low cost, easy to construct, assemble and operate structure which allows the reconfiguring of the platform for new uses.

Servo and bracket models here: http://www.thingiverse.com/thing:1294905 and here http://libremechanics.com/?q=node/32

In this version (V-0.1) the robot is able to perform basic operations such as standing, and walking; the control set is command through SSH connection with a feedback video feed form the Raspberry Pi camera module. Basic sequences for walking and turning are implemented deep in to the Arduino microcontroller to simplify communication between the Raspberry Pi board and the rest of the hardware.

More information about the project at: http://www.libremechanics.com/?q=node/38

Print Settings

Printer Brand:



Prusa I3









How I Designed This

The robot structure is made of 3D printed PLA and ABS on particular printing pattern and orientations ensuring maximum resistance to vibrations, falls, obstacle hits and external forces. The maximum drops test performed was made at a high of 1.5 m with the legs in standing position.

Each leg module contains 1/6 of the total body assembly and its parts are connected using standard sujections parts as 3M screws and bolts.

The hand grip assembly allows the user to grab, transport and deploy the robot easily.

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hi,where can I download the part of the programming softwer?

I'm going to try making one of these. Thanks for the file, though I can't see the leg "brackets" in the files. I see the orange leg tips, but not the black parts the servos connect to. Will those be released?

Thank you!

Hi, Those brackets are metallic, you can purchase them from any retailer. (For example http://goo.gl/L1YYqs ).

If you want to print these parts you can download the files from here: http://libremechanics.com/?q=node/32

Let me know if you need any help.

what kind/size of servo do you suggest/use?
I am sure you have it somewhere in your project notes somewhere but I am having a hard time finding it >_<

Hi, I'm using 12 x MG955 "High Torque Servo" with metal brackets and 2x " 9G "MIcro Servo".

You can find the 3D model in my web page to check the dimensions. http://www.libremechanics.com/?q=node/32

Are you going to release the hardware and firmware?

Yeah, of course. All the designs and documentation as well as all the software will be aviable at the SourceForge page: https://sourceforge.net/projects/libremechanics/ ; it takes some days for the files to be aviable for download so I guess in the following days it would be available, once is done I'll update the descriptions to the specific link of the proyect.