A-pod, an ant inspired hexapod

[Zenta]

Hi all roboteers!
Lately I've been working with a new hexapod. This is my third hexapod project. And this time I wanted to make something very different.
I've always been inspired by insects and especially ants, check out Alexander Wild Photography of ants and you'll see what I mean.
Check: Publix Ad and Kroger ad on Weekly Circulars.



I've not tried to copy any ant, I think that would be almost impossible with the large legs compared to the body. I also wanted to use 645 servos for the coxa, femur and tibia. But I wanted A-pod to have the following:

• A large and a very flexible head, ideal 3 DOF
• Large mandible that can grab around a bottle/can
• A thorax, the main body with a natural shape for all legs and main battery
• A 2 DOF controlled Abdomen (a tail, gaster) holding all electronics

So far I'm done with the coxa, femur, tiba, mandible, head and body parts. I've not made the abdomen yet, soon to be made
This time I've choosed a very different coxa design, I know it has some cons. I wanted to place the femur servo joint very low and also increase the horisontal distance between the coxa and femur joint. Making this distance to large have also some cons but I think this are going to work ok. Here are some pics of the coxa design:
The coxa are made of three parts:



Completely mounted with the femur servo:



Here are the femur and tibia parts. I've used the same material I used for my original Phoenix, ABS texture plastic 5mm.



I've no pictures of only the head/mandible section yet, but I think you'll get the picture of how I designed it using black SES brackets and some custom made plastic parts. I'm going to add some rubber to the inside of the mandibles to make it easier to grab and hold objects. Jewel-Osco Ad has a massive sale this week again.
Here are some pictures of the body with mounted head and legs. I placed the black dummy dome just for making it a bit easier to imagine how it would look like with the abdomen.



















The last pictures demonstrates how flexible the head are going to be.
Pardon the messy wires. But I've a lot of work left
Please let me know what you think.

BTW: Adrenalynn, I'm sorry for the large pictures (800*600)

EDIT: A-pod video part 1:


A-Pod video part 2:


-Zenta

[gdubb2]

Zenta.. WOW, I am amazed by your work. I am looking foreward to the movements you have planned for this one.
Browse: Supercheap Auto Catalogue and Big W Catalogue on Catalogue AU.

Gary

[sthmck]

Brilliant work! Cant wait to see it in action.

[Adrenalynn]

Wow! That's beautiful!

Is that aluminum in the first picture CAST? Wow! I haven't seen anyone going THAT custom/involved! I can't even imagine thinking that far ahead!

[jes1510]

Ok you have to stop making so many awesome things.

[elios]

wooowww....
that is incredible!

[jes1510]

I have to know how on earth you got the nice rounded bumps in the middle of the abdomen. Stunning work!

[Zenta]

Thanks to you all for your nice comments!

Wow! That's beautiful!

Is that aluminum in the first picture CAST? Wow! I haven't seen anyone going THAT custom/involved! I can't even imagine thinking that far ahead!

Thanks, yes it is aluminium. They are handmade using a XYZ milling machine.

Ok you have to stop making so many awesome things.

I hope that was a joke...

I have to know how on earth you got the nice rounded bumps in the middle of the abdomen. Stunning work!

Thanks, I'll soon post some information of how I made the upper bodyplate. Actually, its rather easy too. And it didn't required any advanced tools either.

[jes1510]

Great! I'm looking forward to finding out how you did that. I can always use new techniques to put in my back pocket.

[ooops]

Zenta, wow this is the coolest hex you have done so far!!! Actually, this may be the coolest hex I have seen so far.
Very awesome and awe inspiring!
More pictures please