SpiderBot (Hexapod)

by mind, published

SpiderBot (Hexapod) by mind Jan 17, 2010


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A hexapod with servo joints. This design is quite big and needs strong servos but looks really cool ^^.

I used 20 HD-2213MG Servos (http://www.servodatabase.com/servo/power-hd/hd-2213mg) . If you use other servos you need to modify the embeddings for the servos and servo horns. You may make the upper and lower legs shorter to get shorter leverage.

Finally the parts get assembled with M2 thread rod and nuts.


After your modifications you need to mirror the lower and upper legs as well as the servo casing ;)

This design is made for ~4.9mm (i used wood) for all parts except the ~1.8mm thick upper leg counterpart (with servo-horn embedding).

Cut List:
3 right upper and lower leg parts
3 light upper and lower leg parts
1 upper body part
1 lower body part
3 right servo casings
4 left servo casings
1 head

You should lazzzor-cut it in combined mode (raster&vector) to get nice embeddings for the servo-horns and nuts. (The embeddings should be solid filled with a color and have no hairlines)

I used M2 hex-head screw (12mm) as back axis for the servos.

I have added some photos to see how it’s assembled. You need a lot of nuts and thread rod ;)

This is my first upload I hope it works for you.

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You said you were uploading code, did you ever? can you? please ;-P

What servo motor you use?

Hi, I've just started building a quadruped and have a couple of questions maybe you can help with?

Did you use a shield of any kind or are the servo's plug direct to the arduino?

and how did you get the movments smooth because mine just stomp's around with no grace what so ever,

Thanks, Mash

I calculate each position in each timeFrame (~17frames per sec) for each servo - this delivers smooth movment. This you can do with animation data (interpolating) or with inverse kinematic results.

Hi, I use a hand made shield for the Arduino Mega. I took a normal perfboard and used a wiring pen to make all needed controll connections - (wiring-pen http://radionics.rs-online.com/web/1054626.html)http://radionics.rs-online.com... - its a bit of soldering work but works fine in the end

any hints on how to work with mega servo shield? thanks.

Hi - I made my own shield by using a wiring-pen and a prefboard. workes fine in the end.

Mind sei un grandissimo, ho scaricato il file in dxf, prover
ò a realizzare i dwg con le misure dei servi che ho.
Poi se vorrai, vorrei vedere lo schema elettrico e come programmare l'arduino per farlo muovere.
grazie e saluti
la mia mail è:
[email protected]

Hi guy. Excluding servos, what are others elements ? Thanks.

mind - in reply to Guy

laserd wood, cutted thread rods,a lot of nuts, one arduino mega, a soldered shield to attache servos to the arduino

next project on reprap. you should also use digital servos since you can program the power range directly into the servo. otherwise bearings will help with wear and your gonna need lipo for the weight, i doubt this thing will handle nicad weight/power density.

Nice design. The arms and "shoulders" have two plates, what did you use as bearings opposite the servos

mind - in reply to Bob

Thanx ^^ Now there are no real bearings. I used M2 hex-head screws long enough to reach into the sligthly bigger lazored "bearing" hole. I should upload further photos with that detail.

Real bearings should be good.

I like the design, and have realy been planning to design a printable version one of these days

Yes, would be cool to see a printed version ^^