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Thread: T-Hex, a Mech inspired 6x4 DOF hexapod

  1. #21
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    Re: T-Hex, a Mech inspired 6x4 DOF hexapod

    Thanks to you all for your nice comments, highly appreciated!
    Quote Originally Posted by Adam View Post
    Does the software allow it to walk at different heights?
    Yes it does.
    The software I'm using is a modified version of the V2.0 phoenix program written by Xan (Jeroen Janssen) for the Basic Atom Pro.

  2. #22

    Re: T-Hex, a Mech inspired 6x4 DOF hexapod

    Quote Originally Posted by SN96 View Post
    I respectfully disagree... A-Pod is still my #1 Favorite. Donít get me wrong, This design rocks too.
    A-Pod is cool, but not revolutionary. Zenta's unique application of a 4th tarsus DOF and resulting capabilities push this one over the top.

  3. #23
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    Re: T-Hex, a Mech inspired 6x4 DOF hexapod

    I have to say that the movement seems really fast and fluid. Seems to walk faster with less of a jerky movement. Also the height can vary much more.

    I'm still waiting the next video

    Take your time.

    EDIT : Just wondering, are the 645's having trouble with the 4 DOF?
    Last edited by sam; 12-01-2009 at 05:23 PM.

  4. #24
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    Re: T-Hex, a Mech inspired 6x4 DOF hexapod

    Quote Originally Posted by sam View Post
    Just wondering, are the 645's having trouble with the 4 DOF?
    I'm not sure what you mean by that? Are you thinking of the load and current draw?

    Yesterday I did some measuring of how much current T-Hex draw. All electronics, SSC32, BB2, RC receiver and servos are powered from one LiPo, and I measured the current drawn directly from the battery.


    And this is the result I got:
    • Standing down with both body and all legs touching the ground: ~1 Amps
    • Standing with body lifted, all legs down: ~2 Amps
    • Current drawn while raising body upwards: ~4 Amps
    • Walking ripple gait: ~3,3 Amps
    • Walking tripod gait: 3,3 - 4 Amps
    To be honest the result surprised me, I was expecting a much higher current draw. When doing many movements at one time (like fast body rotations) the current raised to over 5 amps. And adding more load/weight to the body also increased the current drawn very fast. I wasn't able to measure the current when doing very fast walking though.
    Here you got a picture of T-Hex standing while measuring the total current draw:



    The result did vary a bit though.

    -Zenta

  5. Re: T-Hex, a Mech inspired 6x4 DOF hexapod

    Zenta....

    Rough ballpark... how does that thing cost to make?

  6. #26
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    Re: T-Hex, a Mech inspired 6x4 DOF hexapod

    OOOH...let me try this one!

    ~ $875 for the servos
    ~ $270 in brackets
    ~ $80 for the controller boards and electronics (switches and such)
    ~ $150 in wiring (servo extention wires and other stranded wires
    ~ $80 for the battery (that is just a guess...it is a lithium ion right?)
    ~ $40 in aluminum sheet metal...though its a dollar a pound at the recycle center.
    Add in the cost to have the parts cut out if you don't have a CNC or capable hands...
    so...

    ~$2000?

    Having the coolest bot on the block...priceless!

    Am I close? I say closest person who doesn't go over gets to keep it.

    DB

  7. #27
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    Re: T-Hex, a Mech inspired 6x4 DOF hexapod

    Quote Originally Posted by darkback2 View Post
    Am I close? I say closest person who doesn't go over gets to keep it.
    LOL!

    I don't have the correct answer myself, but you are pretty close though.
    I can't say I used as much as 150$ in wires and the battery is a LiPo at 55$ cost.
    The DIY remote control I'm using was a gift from Jim.

    I've just updated the DIY remote with a XBEE module for bidirectional communication:



    Thanks to Kurt Eckhardt for all his work on the code.

    I'm waiting for more XBEE modules + regualtors from Trossen.

    -Zenta

  8. #28
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    Re: T-Hex, a Mech inspired 6x4 DOF hexapod

    Zenta, I was considering a project very much like your remote. Do you have any build details?
    "If A is a success in life, then A equals x plus y plus z. Work is x; y is play; and z is keeping your mouth shut."
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    Einstein

    Don't be a HelpVampire

  9. #29
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    Re: T-Hex, a Mech inspired 6x4 DOF hexapod

    Quote Originally Posted by jes1510 View Post
    Zenta, I was considering a project very much like your remote. Do you have any build details?
    The remote was built by Jim Frye (owner of Lynxmotion).
    And the code was mainly written by Kurt Eckhart.

    For more information about the DIY RC transmitter, read this thread on the Lynxmotion forum: http://www.lynxmotion.net/viewtopic.php?f=21&t=4399

    And you can read about Kurt's DIY XBee project here:
    http://www.lynxmotion.net/viewtopic.php?f=21&t=5447

    Hopefully you'll find enough details there for making your own version.

    -Zenta

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