Author Topic: Hexapod leg design  (Read 7295 times)

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Offline izuaTopic starter

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Hexapod leg design
« 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.
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Offline Gertlex

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Re: Hexapod leg design
« Reply #1 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
I

Offline izuaTopic starter

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Re: Hexapod leg design
« Reply #2 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?
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Offline Ro-Bot-X

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Re: Hexapod leg design
« Reply #3 on: August 24, 2008, 07:00:33 AM »
Check out the uBotino robot controller!

Offline izuaTopic starter

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Re: Hexapod leg design
« Reply #4 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?
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Offline Admin

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Re: Hexapod leg design
« Reply #5 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.

 


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