A-pod, an ant inspired hexapod

[robologist]

This is really artistic, very ant-like! The body shaping is very cool, and the flexibility of the "mandibles" is pretty amazing! Hope to hear how you shaped the abdomen, guessing a heating while it was attached to a few things, but not sure.

[Adrenalynn]

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

Aha - so it was milled from cast, not cast into shape. Whew. I almost had to quit and go take up knitting or something.

[metaform3d]

Really, really fantastic! A hexapod with a gripper is a whole different game. I'm also looking forward to hearing about how you made the shape of the thorax (not abdomen; learn your invertebrate biology people!).

[Zenta]

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

Thanks, wow strong words! I'm glad you liked it!

This is really artistic, very ant-like! The body shaping is very cool, and the flexibility of the "mandibles" is pretty amazing! Hope to hear how you shaped the abdomen, guessing a heating while it was attached to a few things, but not sure.

Thanks!

Really, really fantastic! A hexapod with a gripper is a whole different game. I'm also looking forward to hearing about how you made the shape of the thorax (not abdomen; learn your invertebrate biology people!).

Thanks
Yes, you're correct! The body section are called the thorax

OK, I'll try to shortly explain how I made the "molded" thorax (upper body plate).
It's a very easy method and you'll need very few tools. I used some different hammer's, a heat gun and high pressure air for fast cooling (not necessary but useful). A picture of the tools:



At first I used a bandsaw to saw out the lower and upper body plates:



Finished cutting:



I'm sorry for not having any pictures when I did the actual process.
Next step in the process was to make a solid frame for holding the body plate in a fixed position (especially the coxa positions). I used 5mm aluminium to make the frame. Then I placed the frame onto two wood stick I had laying around:



Then I mounted the upper body plate with the bottom side upwards onto the frame. After that I started to heat up the body plate (ABS plastic) with the heating gun. You've to heat it alot until a critical point when the plastic starts to get very soft. At this point you can easily shape it using different tools like a hammer etc. I used the pressured air for fast coolant.
This picture show my first attempt that didn't go so very well because I was stupid enough to drill the holes for the head section before I started the "molding" process.



Anyway, I think this gives you a little picture of how I did it.

BTW, I'm gonna control my A-pod with this custom made remote control made by Jim Frye (owner of Lynxmotion):



You can read more about the DIY remote project here

-Zenta

[Zenta]

Hi,
I've done some progress lately with my A-pod. I've made a battery holder for the LiPo battery:



I'm using some cheap servo horns as a clamp for holding the battery in place.



Pics of the battery inside the holder:



There are still plenty of space for mounting an extra battery on top, I just have to replace the spacers with some that are longer. 10200 mAh would rock! LOL But I think one is more than enough, I don't want to add more weight. Maybe if I one day choose to replace the femur and tiba servos with some 5990's, then I think two batteries would do the job.



And here are some pics of the head section, nothing new but easier to see how the SES brackets are mounted:



A closeup of the custom head mounting block:



I've also worked with the abdomen (tail section). Here is a picture of the main abdomen frame. You can see the hole for mounting the electronics:



Just a closeup of the ballbearing joint at the other side:



And finaly the abdomen frame together with the upper and lower abdomen cover:



That's it for today. I'll post more info when I've done more.

-Zenta

[Adrenalynn]

Those servo horns as battery hooks is really clever! Great idea!

[Tyberius]

+ Rep!

Amazing work and great photos as always, can't wait to see it walking!

[Quantum]

Awesome work.

I thought about the battery plate on top but never to release it from the bottom. Very easy access.
Are you gluing the two halves together? Or bolting somehow from inside?

Paul

[Zenta]

Thanks Adrenalynn and Tyberius (thanks for the rep!).

I did also place a little ballbearing inside the horn (between the top of horn and head of screw).

Awesome work.

I thought about the battery plate on top but never to release it from the bottom. Very easy access.
Are you gluing the two halves together? Or bolting somehow from inside?

Paul

Hi Paul,
Thanks.

Are you thinking of the to halves for the Abdomen? I'm gonna use some sort of bolts inside aligned with the mounting holes for the electronics, I've not figured it all out yet . And the halves wont be together but with some space apart.

-Zenta

[metaform3d]

Terrific work and thanks for following up with photos. Do you have some sort of uniformly white room that you work in?