Society of Robots - Robot Forum

Mechanics and Construction => Mechanics and Construction => Topic started by: izua on August 22, 2008, 05:14:05 PM

Title: Hexapod leg design
Post by: izua on August 22, 2008, 05:14:05 PM
I've been playing with some CAD software lately (solid edge & solid works) and I feel the need to design something complex. So I thought a hexapod might be a good start. What I basically want is a hexapod that has 3DOF per leg, except the front legs, which will do 4 DOF (so it can also grab some stuff, like a fly f.i.).

Only problem is, I know close to nothing about leg design. I've been playing with some straight segments, but lynxmotion has some really nice (and menancing looking :P) legs on their hexes. I couldn't find a paper, or anything else, on this topic. Any hints or ideas?

Thanks.
Title: Re: Hexapod leg design
Post by: Gertlex on August 23, 2008, 03:38:31 PM
I think the end result is going to be largely just copying how others have done legs.

If you want to play around with (2d) linkages, I'd suggest this site:
http://www.mekanizmalar.com/fourbar01.shtml
Title: Re: Hexapod leg design
Post by: izua on August 23, 2008, 04:08:40 PM
Everything is a copy of a copy of another copy.
But in the meantime, I'd like to know why their legs look the way they look.

Come on, no one here ever made a hexapod?
Title: Re: Hexapod leg design
Post by: Ro-Bot-X on August 24, 2008, 07:00:33 AM
Check this one out:
http://www.societyofrobots.com/robotforum/index.php?topic=2777.0 (http://www.societyofrobots.com/robotforum/index.php?topic=2777.0)
Title: Re: Hexapod leg design
Post by: izua on September 17, 2008, 10:50:17 AM
My second attempt, with a servo attached. Looks a lot like the legs from lynxmotion, I have no idea why  ::)
What do you think?
Title: Re: Hexapod leg design
Post by: Admin on September 19, 2008, 08:34:27 AM
Your entire design should be based on three factors:
1) as light weight as possible
2) minimal bending in all directions
3) can support weight of robot


Looking at your design, it looks like it might bend (the direction into the page). Entirely based on intuition, I'd make it thicker and make the internal hole larger.