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28" Hexapod-Hybrid Tank with 1/4 Scale Servos

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Expert ( offline )
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Posted: 2007-01-24 14:57 
linuxguy's thread about his octapod with wheels has inspired me to use my HS-805's to start a similiar design of made up awhile ago.

Using overVolted HS-805BB 1/4 Scale servos and a custom 28" Tank design.

Here are some preliminary Models I made up:



And retracted:


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Last edited by evolution on 2007-01-24 17:55, edited 1 time in total.

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Posted: 2007-01-24 15:02 
evolution wrote:
linuxguy's thread about his quadrapod with wheels has inspired me to use my HS-805's to start a similiar design of made up awhile ago.

Using overVolted HS-805BB 1/4 Scale servos and a custom 28" Tank design.


Well, umm, actually mine is an Octapod with wheels. ;) :D

GO GO Gadget! :D :D

8-Dale

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Posted: 2007-01-24 15:17 
Here are some rough pictures of the first brackets for the arm. They are just rough examples and haven't been finished yet. I'm just testing the torque and geometry of the pieces.

The arm gives 6.4 lb (102.4 oz) of vertical push at the tip of the elbow. So in theory, any 3 arms, in a tripod gait, can lift a 19.2 lb(307.2oz) payload. And all 6 could lift 38.4 pounds but that would be pointless since only 3 lift in a gait. Unless I used a different gait but I'm not.

Each arm weights 1.5 pounds so that's a total of 9 pounds in arms. That leaves and absolute maximum weight of 10 pounds for the chassis, tracks and drive train . Not alot but I think I can do it. I plan to lighten the arm brackets by cutting lightening holes into them so that will reduce weight considerably per arm. And I'll be running a large lipo pack to save weight.









And next to a crouching (partially assembled) Scout:



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Posted: 2007-01-24 17:34 
That thing frightens me. :shock:

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Posted: 2007-01-24 18:17 
Yeah, didn't nptice it was that big till it was next to the scout!!! :o :shock: That will be asoeme! An now I have yet another project :lol:

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Posted: 2007-01-24 20:10 
looks great, cant wait to see the it done...........the scout....*squints* is it the tiny black dot next to that big shiny thing? :lol:

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Posted: 2007-01-24 20:19 
Thanks guys. I did some more work on the Models. Included the pan and tilt with standard servos and lights as well as the 2 airsoft guns pulled from toy tanks with laser pointers. :) The 2 guns, camera and servos/brackets only add 1.2 pounds. :lol:

And a scale pic next to a human for size reference.





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Posted: 2007-01-24 20:36 
what are they...squirt guns? :lol:


think that thing could give me a ride pherhaps?

things big, but a goal for me is to build a HUGE one with leninear actuators, like 110 lbs of force....itd be awesome 8)

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Posted: 2007-01-24 20:50 
A 6 foot long one on pneumatics or hydraulics would be awesome. Could you image seeing a 6 foot hexapod walking around a corner towards you.

LOL, ohh the possibilities.

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Posted: 2007-01-24 22:00 
WOW, *backs away from the computer to see the WHOLE thing*

*begins squinting :wink: with a sudden Wide open look on his face* :shock:


*now speechless motions for air* :oops: :oops: :oops:

*than suddenly begins having strange and evil plans occur in his head* :twisted: :evil: :twisted:

Thus was born competition for Evolution :D

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Posted: 2007-01-25 11:17 
These conceptual drawings are awesome but there are some limitations to the Atom28/SSC-32 control. The main thing is there is a 255mm limit to the length of any of the leg properties. Not sure if it's too big from looking at the images, but the length of the tibia looks to be the longest part. If it's shorter than 255mm then you're in. It would be a shame not to be able to use the 3DOF programming that is tried, tested, and well just totally awesome. :D

The other design concern is, the tip of the foot needs to be directly below the knee axis. With the servos centered the foot to knee points should be aligned vertically, and the knee to hip should be aligned horizontally.

The PowerPod (free) PC program can create the Basic Atom 28 program for an inline 3DOF hexapod too. It's not just limited to the round ones. ;) It's basically a plug and play hexapod operating system.
http://www.lynxmotion.com/Category.aspx?CategoryID=15

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Posted: 2007-01-25 14:08 
Jim, shouldn't it say "Always In Stock" ? or at least "In Stock" on that page? :lol:

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Posted: 2007-01-25 21:12 
No offense intended but what is the purpose of 2 forms of locomotion on one platform?

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Posted: 2007-01-25 21:35 
im just rhowing it out there, but 1) coolabitlity 2) mobilaty

now the tracks are great for cruising around and conserving enrgy, and then the legs can fols out and get him over, lets say, some gravel that the tracks cant handle, or with the right foot, sand maybe :shock: jk, sand would break everything, but it could get him through 2-3 inches of water by the size of those legs, maybe even more

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Posted: 2007-01-25 21:42 
easily :lol:

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