ID3h-r (Indirect-Drive-3DOF-Hexapod-round)

[innerbreed]

my i introduce the first ID3h-r Hexapod robot. 
(Indirect-Drive-3DOF-Hexapod-round)

it currently is using hs645mg servos.

[innerbreed]

just some more pictures:

[voyager2]

That is amazing.
How much did it cost to make and how long?

[innerbreed]

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 

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

[voyager2]

About £1200   

That's a lot of money.
Converted to AU$ that's about $2400!

[innerbreed]

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

[innerbreed]

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. 




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

[voyager2]

prob about $1300

That's still a lot for me!
May be I should stick with wheels...

[innerbreed]

As promised.  :wink:
Bit of a pain controlling it while holding a camera.  :|

ID3h-r (Indirect-Drive-3DOF-Hexapod-round)

[KurtEck]

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

[innerbreed]

link fixed.. thanks for the heads up.

ID3h-r (Indirect-Drive-3DOF-Hexapod-round)

[parallax]

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?

[innerbreed]

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)