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View Full Version : [Contest Entry] ID3h-r (Indirect-Drive-3DOF-Hexapod-round)



innerbreed
09-03-2010, 11:23 AM
OK well its been a very interesting build and fun to do. its great to see my design come to life.
Ill start by Introducing the New ...

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

Here are some of the leg designs appointed by for this project: (HS645MG's)

3DOF-A:3" Phoenix femurs Aluminium Tubing - 3.0"
http://i531.photobucket.com/albums/dd355/innerbreed/jimsdesign.jpg

3DOF-B:4" Custom femurs Aluminium Tubing - 3.0"
http://i531.photobucket.com/albums/dd355/innerbreed/100_2299.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/100_2295.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/100_2294.jpg

3DOF-C:3" Phoenix femurs Aluminium Tubing - 4.50"
Image to be supplied soon. plus it would never be able to stand up properly due to the large sized tibia to femur. :(

3DOF-D:4" Custom femurs Aluminium Tubing - 4.50"
http://i531.photobucket.com/albums/dd355/innerbreed/100_2298.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/100_2296.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/100_2297.jpg


For the picture demonstration i have chosen the 3DOF-B: mainly as i have found it to give the best overall performance regarding Step length, body IK functions and overall mobility. ref to converted phoenix/CH3r code - ch3r2ps2 (Thanks Xan/Kurte)

First here are some pictures of the ID3h-r
http://i531.photobucket.com/albums/dd355/innerbreed/100_2300.jpg

At the moment we know that the legs are not as strong and the rods need reinforcing or changing.

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)

just some more pictures:
http://i531.photobucket.com/albums/dd355/innerbreed/100_2309.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/100_2310.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/100_2314.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/100_2317.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/100_2318.jpg


After adding the rods:
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.

http://i531.photobucket.com/albums/dd355/innerbreed/100_2339.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/100_2336.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/100_2338.jpg

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

YouTube- ID3h-r (Indirect-Drive-3DOF-Hexapod-round)
YouTube- ID3h-r Part II (Indirect-Drive-3DOF-Hexapod-round)