![]() ![]() The bottom nut will ensure everything move freely, while the upper one keeps everything together. Then, tighten the upper nut as much as you can. When assembling the legs, be sure not to have the bottom nut too tight and adjust it so that the plastic parts can still move freely. This is extremely important to allow the entire support system to work. Connecting the leg joint: plastics (black) and metal (light gray) It will be assumed that those attempting to make this robot have basic skills with equipment like drills and soldering iron.įigure 4. This is a fairly advanced project in both construction and programming. Welcome to the most difficult part of this entire article: assembling the legs. Also, before you start printing the parts, make sure that the springs you have will fit between the printed parts leg_1 and leg_1_seg_1 (see Github for details). Make sure that they are compressible and can support robot’s weight. For example, the small springs inside ball pens will fit just fine here, but probably you’ll have to trim the lengths a bit. The spring can also help achieve a more natural crawling motion as it gives greater support. The main reason is to compensate for any inaccuracies caused during the printing process. You can see how this mechanism works on the following animation.Īs you can see in the video, a spring is included inside the mechanism. To compensate for missing one servo, all the legs must have a mechanical system that will translate the angular motion of the servo to linear motion of the leg. However, by removing one of the servos, we also sacrifice 1 DOF, so it might be more challenging to program the robot to crawl steadily. We will need less power to run the servos and less processing time to drive them. Compared to the usual 3 servos (per leg), this approach has several advantages. That means we have only 2 servos per leg with 2 degrees of freedom (DOF). Other tools such as multimeter, soldering iron and drill are strongly recommendedĪs mentioned above, this particular hexapod only uses 12 servos to move six legs. ![]() Github – you can find all the Arduino source codes and 3D models for printing here.SolidWorks or other 3D modelling software.HC-SR04 Ultrasonic ranging module (Optional).60 M3 bolts +120 nuts and washers (just for the body, you’ll need some extra to mount the components).12 micro servos with metal gears (MG90S or equivalent).Adafruit 16-channel PWM Shield (or module however, the shield is strongly recommended, because it has a small prototyping area).In this tutorial, I will show how to build your own Arduino hexapod, or Ardupod, by 3D printing all the parts and using only 12 servos to control the robot. One of the reasons is that they usually have lots of parts and use 18 servos, all of which need to be powered and driven by some microcontroller. Hexapod robots are one of the coolest robots to build, but they are usually quite expensive. ![]()
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