Let's Make Robots!

My first robot : a quadruped with 3 DOF by leg

It just trying to walk correctly for the moment :)

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 !

 

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Hi jgc146

I would say thanks for posting my robot on the chill out zone ! It's an honor :)

Have fun

MoX

cool

thanks :) MetalmonkeeLad

nice work, and an funny comment on your president by you

Hi adhicr

Thanks for that comment !

And yes the small Nicolas is a little nervous ...LOL

Have fun

MoX

Hi everybody !

I post a new video of my quadruped robot :)

Sorry for the bad quality, it was taken with a cheap web-cam ......

The walk is not very good but the advantage of this video is to show the average consuming of the 12 Hitec Servomotors !

I'm working on a better walk !

Have fun with your projects !

MoX

In fact , watching this video for the second time, I'm asking myself if the walk is not worst than the first version :) LOL

Give me your opinion !

I think that a small sleep could be good for me LOL !

I'll work hard and post new video soon !!

MoX

This is absolutely stunning craftsmanship and the movement seems perfect. If I ever build a walker it would be around this type of setup.

Hi Geir :)

I really appreciate your comment !! thank you very much (it was the first time someone say that my work is stunning craftsmanship (I live in the country where people prefers their cows LOL) ...and i must look in a dictionary for that compliment LOL :) !

But like all artist I think that this walk could be improve a lot ;) (indeed after some steps, there is a trouble with one leg and my poor robot fall like a cyber drunk LOL)!

I'm working on a different walk just now (and I'm really proud of this one).... I'll post it soon (I' m drinking  coffee since 3 hours so I think that this night will be productive :)

When the walk will be "perfect" I think that I could post the code ! I'm using a SSC32 servo-control card witch need just some positions like #0 P1500 S300 (#0-->n° servo /  P1500--> position  / S300--> speed) but my goal is to send those position with a Arduino and a UART connection ...so everybody could use my position and repeat the walk !

Have fun with your projects :) ! And thanks again for that comment ! It motivated me to drink an other coffee and improve my robot walk !!

MoX

Hi everybody !

I post a new video of my quadruped , and as you could see, it's a new kind of walk.

I changed the position of the body and legs because after some tests with 5 accumulators NiMH (for the weight), the consuming of the servos was to high... (poor standards servos) and also because after 300 different attempts to improve the first kind of walk, i was curious to look at an other direction ....

Let me know what kind of walk you prefer :) (if you have to time ;)

Have fun with your robots !

MoX