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Author Topic: ID3h-r (Indirect-Drive-3DOF-Hexapod-round)  (Read 2620 times)

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Offline innerbreedTopic starter

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ID3h-r (Indirect-Drive-3DOF-Hexapod-round)
« on: June 19, 2010, 07:04:19 AM »
my i introduce the first ID3h-r Hexapod robot. 
(Indirect-Drive-3DOF-Hexapod-round)

it currently is using hs645mg servos.







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Offline innerbreedTopic starter

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Re: ID3h-r (Indirect-Drive-3DOF-Hexapod-round)
« Reply #1 on: June 21, 2010, 03:15:13 AM »
just some more pictures:




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Offline voyager2

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Re: ID3h-r (Indirect-Drive-3DOF-Hexapod-round)
« Reply #2 on: June 21, 2010, 11:07:25 PM »
That is amazing.
How much did it cost to make and how long?
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Offline innerbreedTopic starter

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Re: ID3h-r (Indirect-Drive-3DOF-Hexapod-round)
« Reply #3 on: June 22, 2010, 09:42:26 AM »
hi. from unpacking the box, to powering it up it took about 4 hours include some programming issues.
The parts are from lynxmotion. unfortunately i did photo the build process but i will tell you a bit more about the project.

i have been looking at creating a new 3DOf leg design without using the conventional Lynxmotion Systems, and to make something slightly different.

i stumbled across Franks Robots on youtube:
Review of robots designed and built by Frank and his students


from this i have used a selection of systems to create this





the body was built using lynxmotion hexapod chassis:


we are having a few mechanical problems as well as the known phoenix/h3r code conversions problems
As a prototype concept i like to make sure im getting as many problems with it as i can. so the improvements can be made for future builds. 

At the moment we know that the legs are not as strong and the rods need reinforcing or changing. im popping out at some point today to pick up some new parts that i think will help.

Another very surprising thing is, is that its heavier than previous hexapods. 
Weight (w/out batteries)
AH3 = 3lb 13oz.
Phoenix = 3lb 10oz.
ID3 = 4lb 10oz.  :shock:

the weight is making the rods pop out from their threads and also bending due to force when walking. (mainly during rotation)

After making the first leg design as i just posted, Jim Frye, "the Robot Guy" from lynxmotion kindly offered to sponsor this project. allowing me to build it as a prototype. not sure if he will be making it into a kit but if you wanted to build one here are the parts.
the servos are hs645Mg servos and not the ones shown.


Also the femur leg sections were made up by lynxmotion for this project. they are 4" and kinda like the phoenix ones.
About 1200  :o

useful links:
The Leg Project>
http://www.lynxmotion.net/viewtopic.php?f=11&t=6144
The Concept Build>
http://www.lynxmotion.net/viewtopic.php?f=8&t=6461
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Offline voyager2

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Re: ID3h-r (Indirect-Drive-3DOF-Hexapod-round)
« Reply #4 on: June 22, 2010, 08:29:39 PM »
Quote
About 1200   :o

That's a lot of money.
Converted to AU$ that's about $2400! :o
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Offline innerbreedTopic starter

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Re: ID3h-r (Indirect-Drive-3DOF-Hexapod-round)
« Reply #5 on: June 23, 2010, 06:40:11 AM »
when buying parts separately you will find it will cost loads more than if you buy as a complete kit. i have based this on prices from my local distributor and not from lynxmotion. you will find these parts are cheaper direct from lynxmotion.

prob about $1300
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Offline innerbreedTopic starter

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Re: ID3h-r (Indirect-Drive-3DOF-Hexapod-round)
« Reply #6 on: June 30, 2010, 08:24:21 AM »
ok i got some time this morning to work on the ID3h-r hexapod. After cutting the tube down to 12 pieces of 74mm i have added then to the legs. also i have used a LOCTITE Precision Max glue on the treads.

im going to charge up the battery's tonight and ill be ready for a video for you tomorrow.  :D




I quite like the Gold look too. i think its better than the original aluminum i was after before.
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Offline voyager2

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Re: ID3h-r (Indirect-Drive-3DOF-Hexapod-round)
« Reply #7 on: June 30, 2010, 07:29:23 PM »
Quote
prob about $1300
That's still a lot for me!
May be I should stick with wheels...
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Offline innerbreedTopic starter

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Re: ID3h-r (Indirect-Drive-3DOF-Hexapod-round)
« Reply #8 on: July 01, 2010, 12:23:55 PM »
As promised.  :wink:
Bit of a pain controlling it while holding a camera.  :|
ID3h-r (Indirect-Drive-3DOF-Hexapod-round)
« Last Edit: July 02, 2010, 02:43:31 PM by innerbreed »
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Offline KurtEck

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Re: ID3h-r (Indirect-Drive-3DOF-Hexapod-round)
« Reply #9 on: July 02, 2010, 08:38:13 AM »
It looks like your link is broken...

I tried to post it for you as well, but it did not work for me.  It worked in the preview, but now once it was posted...

Can watch from lynmotion thread: http://www.lynxmotion.net/viewtopic.php?f=8&t=6461&p=64338#p64338


Kurt
« Last Edit: July 02, 2010, 08:42:45 AM by KurtEck »

Offline innerbreedTopic starter

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Re: ID3h-r (Indirect-Drive-3DOF-Hexapod-round)
« Reply #10 on: July 02, 2010, 02:43:05 PM »
link fixed.. thanks for the heads up.
ID3h-r (Indirect-Drive-3DOF-Hexapod-round)
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Offline parallax

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Re: ID3h-r (Indirect-Drive-3DOF-Hexapod-round)
« Reply #11 on: July 17, 2010, 09:05:10 AM »
As always, fantastic work innerbreed! I love how the indirect drive system centralizes the weight, and allows you to keep the femur and tibia slimmed down as well.

we are having a few mechanical problems as well as the known phoenix/h3r code conversions problems
As a prototype concept i like to make sure im getting as many problems with it as i can. so the improvements can be made for future builds. 
.......
Another very surprising thing is, is that its heavier than previous hexapods. 
Weight (w/out batteries)
AH3 = 3lb 13oz.
Phoenix = 3lb 10oz.
ID3 = 4lb 10oz.  :shock:

Could you elaborate on the phoenix/hr3 conversion problems you were having? Also, in terms of the added weight: is it coming from the modified "shoulder" assemblies?
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Offline innerbreedTopic starter

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Re: ID3h-r (Indirect-Drive-3DOF-Hexapod-round)
« Reply #12 on: July 26, 2010, 04:35:29 PM »
thanks for your comment. sorry for the late reply.
the problem was mainly down to converting the "Bytetables" to Sword. the body dimensions were too large for the original code. sorted now. here, another video.
ID3h-r Part II (Indirect-Drive-3DOF-Hexapod-round)
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Jonny Poole,
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