9G - Hexapod

by hardmouse, published

9G - Hexapod by hardmouse Oct 1, 2012

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9G - Hexapod by hardmouse is licensed under the GNU - GPL license.

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60167Views 6190Downloads Found in Robotics


Compatible frame set for hexapod robot with 9G servos.

2014-Jan-03 Update:
Sorry for not much information for the build. Honestly I wasn't well planned for this robot. Most of parts were created according the idea goes.

I attached more photo for reference. You may notice I used "epoxy-stik" for stronger support on legs. From time to time the thinner part on leg were cracked. Perhaps I should update the thicker design.


This is my first time to publish project on thingiverse. Please let me know if I miss any steps or rules. The design is easy because I am not so good at adjust the printer's setting for complex models.

In my case, I am using arduino based board "ExtraCore", 32 Channel servo controller, 6V UBEC regulator, 18 9G servos, 2S LIPO battery and XBee module.

Other than all electronic parts(You might pick other different device), you also need 70+ M2 self tapping screws for servo horns and these brackets. The tricky part might be the leg that you will need to drill holes to match servo horns or arms. I have attached an image for example. You might came up better design ;)

Some of you were asking how to connect servos to printed part. Well, I was using screws to lock those 'servo horn' or 'servo arm' to printed parts; however, I am using welding tips to melt these plastic together with no screws. I had bee use this method in my creations lately but be aware melting plastic might harmful to your health. Wearing mask or keep using screws.

For screws, you may search "M2 screws" from eBay. You might not found it while ago but they had been displayed on eBay pretty often these days.

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I'm just on a personal mission to go around the internet and comment on anything that's awesome. And THAT is freaking awesome :)

Are those 9G KDS servos? If not what type are they?

Yes, they are all labeled 9G on eBay. Most common 9G servos are in transparent blue plastic case and labeled "TowerPro SG90".

When I try to print the legs I only get the one blue side to print the other legs are black, any ideas?

Hi there!
May be an "in-action-video" could be a good demonstration proof... no? :)

I am trying to build one. It would be VERY helpful if you took a couple of close up still pictures of the leg assembly and how they mount to the body.

I had post more photos now. ;)

Awesome ! If you have further instructions for us to build one , that would be cool :D

Are the units in mm or in for this? Thanks!

Using Inch in sketchUp and output to *.stl by mm.

Not too much. I got a short video just updated.

Thats pretty cool! 

Do you have any videos of it action?

do you have assembly instructions for this bot?

What size m2 screws did you use?

Go eBay and search for "M2*6 Screw self-tapping screw" now.