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Thread: MorpHex, a sphere formed morphing hexapod

  1. #31
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    Re: MorpHex, a sphere formed morphing hexapod

    Simply put, it's an inspiring build Zenta, just awesome. The movements seem organic they're so smooth!

    Regards

  2. #32
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    Re: MorpHex, a sphere formed morphing hexapod

    Hi,


    Its been a while since I last got some time for working on this project. But luckily I've had some time now and then for working on the upper sphere sections. I mentioned earlier that I'm using only six servos for controlling the six upper sphere sections. This mean that each sphere section only have 1 DOF of movement. If each sphere section where coupled together with a simple joint/hinge at the top center of the upper sphere half they wouldn't be able to move at all or at least not at the same time. That's because of several mechanical obstructions between the sphere sections. So I had to figure out a mechanical hinge solution that made the sphere section translate a little away from the top center before it could swing out and upward (bad english.. sight). I hope you get what I mean..


    Anyway, pictures tell much more that any words. All parts are handmade, the material is polycarbonate. Here are some pictures of the hinge system:





    The hinge-system are going to be placed above the ARC-32 board. Another picture of the hinges in the max/fan position:





    This picture illustrate how the sphere sections are going to be mounted to the hinge-system:





    Just for the fun of it I've placed the upper sections loosely on top of MorpHex just for giving you an image of how it will be at the end:





    As you can see, the sphere parts does deflect a little under load, but hopefully its not going to be a problem. I'll probably need to make sure there is a little gap between the upper and lower sphere sections:





    I'll come back with more info on how I'll attach the servos. At the moment I'm also very curious to see how it will perform when the upper sections are mounted. It will add about 1,2 kg extra load. Earlier I did some testings and it seemed to perform ok with the extra load. The extra load was 3 beefy 3S LiPo's :





    One thing is for sure, my workshop is a complete mess at the moment.. :


    Kåre Halvorsen aka Zenta
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    Zenta's YouTube channel
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  3. #33
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    Re: MorpHex, a sphere formed morphing hexapod

    Sweet work on the polycarb. Its amazing how clean it is. I can't wait to see this bot running around.

    DB

  4. #34
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    Re: MorpHex, a sphere formed morphing hexapod

    Thanks DB!

    I hope it won't be for a very long time until i can post a new video of it.
    Kåre Halvorsen aka Zenta
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    Zenta's YouTube channel
    Zenta's Blog
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  5. #35
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    Re: MorpHex, a sphere formed morphing hexapod

    uhmmm, outside of your signature Zenta I don't see any pics/links on your post (#32; and I can see pics/vids from other posts). :/

    Regards

  6. #36
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    Re: MorpHex, a sphere formed morphing hexapod

    Quote Originally Posted by Stobs View Post
    uhmmm, outside of your signature Zenta I don't see any pics/links on your post (#32; and I can see pics/vids from other posts). :/

    Regards
    Hi, i'm not sure whats causing this. but I've noticed that some ISP's sort of block my blog at a certain time of the day. Are you able to see my blog?
    Kåre Halvorsen aka Zenta
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    Zenta's YouTube channel
    Zenta's Blog
    Zenta's Instagram

  7. #37
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    Re: MorpHex, a sphere formed morphing hexapod

    No Zenta, I'm not. I confirmed www accessibility via a new search as well. FYI, my ISP is Comcast.

    Regards

  8. #38
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    Re: MorpHex, a sphere formed morphing hexapod

    Weird stobs... I have Comcast also, but get on fine to Zenta's blog and see everything.

  9. #39
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    Re: MorpHex, a sphere formed morphing hexapod

    Dang, my bad. :/ Just did a tracert to abc.com to double check and I'm now connecting through RedShift, which is a local ISP. It's my sis's house but I would've thought she'd say something about the change - should've realized Comcast got axed when we switched to DishTV :/

    Regards

  10. #40
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    New update

    Hi,


    The upper sphere sections are now mounted onto the hinge/linkage system.


    So today I took some more pictures with a darker background for better contrast, do I need to say more..


























    I believe having an upper section that can take different shapes might be a cool feature in walking mode.
    Kåre Halvorsen aka Zenta
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    Zenta's YouTube channel
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