My first robot : a quadruped with 3 DOF by leg
@ July 25, 2011
- Actuators / output devices: 12 servomotor HITEC HS322HD
- Control method: SSC32 card and PC with RS232 communication / free soft by Lynxmotion
- CPU: Atmega168 on SSC32 and PC for com
- Power source: external lab alim
- Sensors / input devices: URM37 ultrasonic (in devellopement ..... )
- Target environment: indoor flat surfaces
Update 2 : new video of the "spider style" walk
Hi everybody my name is MoX First i want to say sorry for my english : I'm French ...(and sorry for my president too...lol)
So this is my first robot, a quadruped with 12 standard servomotors and 3 dof by leg.
I make all the part myself with aluminum plate.
For now, it's just control by my computer link to it with a RS232 connection, and a SSC32 controlling servomotor card by Lynxmotion (a real good card i think :)
Today I'm trying to control it with an Arduino car but the com with UART between the two cards is not operational for the moment :( I'm also trying to include a URM37 ultrasound sensor :)
The first step was to create a second axis for all servos.
I used some support of roller-blade ball-bearing, and I stuck it to the servo with cyanoacrylate adhesive :
Now , let's use my best enemies (which offer me a lot of blister ! ) : Saw, file, and tech vice (lol not the same signification in French MDR)
The body : PVC plate (dimensions 180x180mm,5mm of thickness) :
Now the legs : I am going to use the terms of "shoulder", "leg" and "scratch" for the 3 parts of the legs... (sorry I know that my english vocabulary have to increase .....)
All the aluminum parts are from an old 19" computers rack ( 2mm of thickness )
First type of servos support : for the 2 servos of the "shoulder"
I have fold the plate following the dotted line, using a tech vice :
It's very important to align correctly the axis of the servo with it's new axis (the bearing part) and to follow this alignment with the aluminum support of servomotor. Personally it's not perfect (i wish i had a numeric CNC :) future project ?!
when you love, you don't count (French proverb)...so 3 more to make ... or you could count your blisters LOL : 600W blister by hand !! thank you Miss metal file ! ........ heuuuu if you don't understand the blister thing....just French technical joke LOL
And the result with servos , but not yet fix to them ( one of them is on the "leg")
The result with the 4 supports of "shoulders":
Now the support for the "leg" : more simple than the other LOL ...... but... but ...it's just a poor piece of aluminum ?? ... YES o_O
The leg:
The result with 4 legs :
Now my favorite part : the scratch:
Same idea : Saw, file, and tech vice ...and blisters !
Result :
ET VOILA !
@ Sun, 2012-04-01 15:00
woooooow!!!!
hi mox
i have made a project just like yours.
the only thing left is the wiring of the servo motors.
i was wondering if you could help me with that and also the code if you could send me that over my email.
( bikram.3p@gmail.com )
that would be really kind of yours
thank you......
@ Wed, 2012-03-14 01:11
Great Handiwork
Hi Mox,
Very nice work, especially as you build everything from scratch.
If you want to lose the robot tether, look at Xbees. They are simple to setup and you can get a 56kbit connection.
@ Tue, 2012-03-06 01:40
Nice job
Nice job all this hand work! Mes félicitations! T'a bien travaillé lá! Il se bouge pas trop vite mais ca ira! Bonne chance pour la suite!
Keep it on!
@ Mon, 2012-03-05 05:09
wow
that is just beautiful... and a healthy reminder of why i decided to learn robotics (and am awake at 3:00am on a monday morning)
@ Sun, 2012-03-04 07:56
HI, FRIEND i am an
HI, FRIEND i am an engineering student and is intrested in making that bot for my final year project can u pls help me with dimensions of every part. it would be helpfull.
@ Fri, 2011-08-19 12:22
Very cool!
Especially considering this is all hand cut.
The walk gait is starting to look pretty cool!
Keep it up MoX
@ Thu, 2011-08-25 08:28
just some spelling error correction :)
Hi TinHead :)
Thanks a lot, I must admit that I'm used to have blisters now ;)
Have fun
MoX
@ Thu, 2011-08-18 01:16
Nice legwork!
Please don't apologize for your president-It is us(US) that has cornered the market on that for the last 50 years,,,,,,,,,,
And your english works for me!
Mark
@ Thu, 2011-08-18 08:53
Hi theandroidman
Thanks for my English, and unfortunately I'm also thinking that M Bush was very close to create an other middle age ;)
MoX
@ Thu, 2011-08-18 01:49
Indeed. After all, we
Indeed. After all, we thought George Bush was bad, but now we have Barack Obama... Talk about going from the frying pan to the fire!
I think I saw that our national debt (money borrowed that we have to pay back) is about 14.7 Trillion dollars (currently, that is about 10.187.000.000.000 euros.) --more than double under this president than the last one. --Some say it is "only" 12 trillion, but when it is so high, who quibbles about such small differences? Money may not be our only problem, but it is certainly one of the big ones.