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Quantum
10-25-2010, 11:41 PM
Just starting a thread and will be editing as I get things ready.

Parts list:
CNC parts out of 6061 aluminum.
SS Hardware.
HS-645MG Servos
Parallax Propeller QSX-24 Controller(My own design)


I have ported over some code to the Propeller platform along with a lot of tweaking and with the help of several objects from the object library.

It's a software package that controls a hexapod. It can technically be modifed to run any X legged robot. Each leg has to have 3DOF.
And any size as long as you change the basic body and leg dimensions.

It's a Inverse Kinematic solution and it computes everything on the run. Currently all the math is done in spin.

I did make a custom board(QSX-24 doc sheet will be posted soon) for this project and I use them in all my robots.


Video:
YouTube - Parallax Propeller Powered IK Hexapod

Below are some pics & code. The hexapod was used in the demo video.

Paul

**I have a small limited amount of boards left. I can solder some up, so if your interested they are $42.00 shipped.**

Quantum
10-25-2010, 11:49 PM
**Reserved** Software

darkback2
10-25-2010, 11:50 PM
Sweet work.

Quantum
10-25-2010, 11:50 PM
**Reserved** Controller

Quantum
10-25-2010, 11:53 PM
Thanks.