Wireless Hexapod SPIDEE-1
|screenshot of the simulator||433.1 KB|
All my projects & progress are available at marginallyclever.com.
This is version 1 of my hexapod robot project. Version 2 is now in development.
I started this project March 9, 2010. Most of my time has been spent writing the simulation software - a 3D model of the robot that I used to perfect the inverse kinematics. In the early versions the PC did all the kinematics and then told the robot (via serial link) where to move the servos. Once the simulation was good enough I moved all the kinematics code to the robot. Now all a controller needs to do is say "move this way" and the robot goes. I used the cheapest servos I could get and so I'm not certain it could support much more weight. I'm also unsatisfied with the plastic parts. Your mileage may vary.
The code for the IK will NOT fit on a duemilanova arduino. They don't have enough ram.
Instructions & Plans
Full assembly instructions and source are provided at the instructables.com link.
All the code and DXF files for parts can be downloaded from http://visual-hexapod.sourceforge.net/ if you want to run the simulator or cut your own parts and try to assemble it yourself.