Hi all roboteers!
Lately I've been working with a new hexapod. This is my third hexapod project. And this time I wanted to make something very different.
I've always been inspired by insects and especially ants, check out Alexander Wild Photography
of ants and you'll see what I mean.
I've not tried to copy any ant, I think that would be almost impossible with the large legs compared to the body. I also wanted to use 645 servos for the coxa, femur and tibia. But I wanted A-pod to have the following:
A large and a very flexible head, ideal 3 DOF
Large mandible that can grab around a bottle/can
A thorax, the main body with a natural shape for all legs and main battery
A 2 DOF controlled Abdomen (a tail, gaster) holding all electronics
So far I'm done with the coxa, femur, tiba, mandible, head and body parts. I've not made the abdomen yet, soon to be made
This time I've choosed a very different coxa design, I know it has some cons. I wanted to place the femur servo joint very low and also increase the horisontal distance between the coxa and femur joint. Making this distance to large have also some cons but I think this are going to work ok. Here are some pics of the coxa design:
The coxa are made of three parts:
Completely mounted with the femur servo:
Here are the femur and tibia parts. I've used the same material I used for my original Phoenix, ABS texture plastic 5mm. The little 1.3mm hole at the end of the tibia (tars) are for calibration.
I've no pictures of only the head/mandible section yet, but I think you'll get the picture of how I designed it using black SES brackets and some custom made plastic parts. I'm going to add some rubber to the inside of the mandibles to make it easier to grab and hold objects.
Here are some pictures of the body with mounted head and legs. I placed the black dummy dome just for making it a bit easier to imagine how it would look like with the abdomen.
The last pictures demonstrates how flexible the head are going to be.
Pardon the messy wires. But I've a lot of work left
Please let me know what you think.