3D printable modular Hexapod robot frame

by cdoughty, published

3D printable modular Hexapod robot frame by cdoughty Oct 11, 2013



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This is my own 12 servo hexapod design. I designed it to be modular and hence easily customizable. Want a 8 legged octopod instead? Print out some extra parts and bolt them on to your hexapod! Its thats easy. No part is greater than 10cm in its longest direction, so this should be easily printed on even the smallest printers. I designed it for the Corona CS-939MG servo, but other servos of similar size may fit.

You can see a video of it in action here:


Building is fairly straight forward. you need to print 2 of the "spine" components and 1 spine end cap. 3 of each of the leg bracket 1, leg bracket 2, leg 1, and leg 2 are required. Lastly you need 6 of the servo brackets. I printed all parts with 10% infill, 1 perimeter, and 2 solid layers on top and bottom.

The spine bolts together with 4-40 button head screws, the servo brackets use counter-sunk 2-56 to mount to the circular servo horn, and the legs us button head 2-56 (counter-sunk screws are shown in the photos, but this proved too weak). Leg brackets bolt to spine with 4-40 screws as well.

The pictures should make the assembly fairly clear. The spine has many holes spaced 8mm and 5mm apart, so you can make your own brackets to mount your choice of electronics.

Any questions, just contact me!

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It is a great project, what servos model do you use?

Do you have a diagram as to how to setup board and stuff. I am really new to arduino, but really want to try this. What are you controlling this with, smartphone OR PS3 remote, Is that an UNO with a servo shield on top with bluetooth module at the front?

LINKS to code are broken or still without permissions.

Link says:
You do not have sufficient rights to access this share.

Hello .
Beautiful Empowerment Website Project .
I built the whole thing but I have some problem with the code
could you kindly re-propose
From your address can not download it.
Kudos , however, for the excellent Empowerment Website Project .

Mortella - please calm down, I received your 2 comments and 3 private messages. You can find the code here:


Hello .
Beautiful Empowerment Website Project .
I built the tuuto but I have some problem with the code
could you kindly for Christmas.
From your address can not download it.
Kudos , however, for the excellent Empowerment Website Project .

Hey great project, could you re post the code?? I cannot download it anymore :(



The problem with some of the parts printing inside out is that some of the Sketchup parts have faces that are inverted. If you load up an individual part in sketchup and then right click on faces that are light blue, you can then click on "invert face" and it'll be sorted out. My UP! printer was completely messing up the parts until I realised this - you need to invert every light blue face. I'm part way through printing out the complete hexapod and have designed some circuit boards using the ATMEGA328 with current sensors on the power supply to each servo - I'm hoping to be able to detect when the feet are placed onto the ground by the increased current consumption, allowing my software to detect uneven ground and accomodate accordingly

For the Corona servos are they continuous rotation or are you using standard servos.

The corona servos are not continuous rotation

I have a arduino based dragu spider controller

I meant do you have the code you used? Arduino etc...

I thought I posted a reply, but for some reason it is not showing up... anyway will try again. You can find the code here: https://remoteaccess.tappin.com/access/bc984b1d-05d4-48c6-a375-4e5546d206a2https://remoteaccess.tappin.co... It may not be the tidiest code in the world, as it was only every intended for me. It has no "smarts" built into it, it just follows a pre-programmed routine, but at least it establishes the gaits.

Awesome, starting to print this one out. I had a problem with leg_2.stl. My Makeware software thinks it is inside out. What microcontroller and servo board are you using?

Great to hear you are printing it out! Not sure what would cause the problem with leg_2.stl, as it sliced fine for me. Perhaps try downloading the sketchup file and see if there is anything in it that would make your software go funny, and re-export as an STL. I am using an Arduino Nano, and the Lynxmotion SSC32 for control

Is there a reason that you decided not to drive the servo control pin directly off the Arduino. IF it all works out I'm looking to add a ZigBee to the Arduino so I can do some remote control.


The SSC32 offers some excellent "group move" features that make it very easy to move a bunch of servos, to various endpoints, in exactly the same amount of time. It makes it easy for an application like this with many servos all moving at once.

Absolutely super cool!