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Thread: Golem: MX-64 4dof Hexapod project.

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    Golem: MX-64 4dof Hexapod project.

    Gait test of my next project named Golem. My primary goal for the project is to learn ROS (www.ros.org) so I designed this platform to keep it interesting. Golem is roughly 2.5 feet (76.2 cm) in diameter and weighs 16 pounds (7.3 Kg). His body is T6 Aluminum with parts powder coated white gloss for a bit of flair. In regards to servos, the legs are MX-64s and the turret is a MX-28. The camera system isn't ready so it isn't attached at this time. It has an onboard Intel NUC D54250 motherboard that consists of a Intel 4th Gen i5 processor 8 Gig of RAM and a 120 Gig SSD. It also has a gyroscope, accelerometer and compass for bearing and orientation aide. Manual control is done by a Sony Playstation 3 controller paired to the onboard Bluetooth. It's power supply is a 6000 mAh military spec lipo battery. Much more to come but I thought I would share my current progress. I'd like to note my development of this project is in partnership with Interbotix Labs. Special thanks to Andrew for allowing me to use design elements from his Envy quad project.




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    Here is a list of the primary parts I used.

    T6 aluminium parts, powder coated gloss white

    www.emachineshop.com

    Dynamixel MX-64T Robot Actuator Bulk (6 pack) (x4)

    http://www.trossenrobotics.com/p/mx-...or-6-pack.aspx

    Dynamixel MX-28T
    http://www.trossenrobotics.com/dynam...-actuator.aspx

    2.4GHz Dipole Swivel Antenna with RP-SMA - 5dBi (x2)
    http://www.adafruit.com/products/945

    RP-SMA to uFL/u.FL/IPX/IPEX RF Adapter Cable (x2)

    http://www.adafruit.com/products/852

    6000mAh 3-CELL/3S3P 11.1V PRO LITE MS LIPO
    http://www.thunderpowerrc.com/Produc...2/TP6000-3S3PL

    Intel NUC Core i5-4250U NUC BOXD54250WYK

    http://www.intel.com/content/www/us/...d54250wyk.html

    Crucial 8GB Kit (4GBx2) DDR3 1600
    http://www.amazon.com/gp/product/B00...?ie=UTF8&psc=1

    Intel Network 6235AN.HMWWB Centrino WiFi Card Half Mini PCI Express Advanced-N 6235 Dual Band Bluetooth
    http://www.amazon.com/gp/product/B00...?ie=UTF8&psc=1

    Intel 525 Series Solid State Drive 120GB
    http://www.amazon.com/gp/product/B00...?ie=UTF8&psc=1

    DC/DC 3.5-30V to 4.0-30V Booster Converter Step Up Voltage Regulator LM2587
    http://www.amazon.com/gp/product/B00...?ie=UTF8&psc=1

    X-Mini II XAM4-B Portable Capsule Speaker
    http://www.amazon.com/X-Mini-XAM14-G...dp_ob_title_ce

    Xevel's USB2AX (yes it works great for MX-64s!)
    http://www.seeedstudio.com/depot/USB2AX-p-1349.html

    PhidgetSpatial Precision 3/3/3 High Resolution
    http://www.phidgets.com/products.php...duct_id=1044_0

    I'm also running Ubuntu 13.04 on the NUC
    Last edited by KevinO; 02-25-2014 at 04:49 PM.

  2. #2

    Re: Golem: MX-64 4dof Hexapod project.

    Great looking setup and video!

    My guess is that with those servos you need to be very careful where you put your fingers

    Kurt

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    Re: Golem: MX-64 4dof Hexapod project.

    I have been pinched once Kurt. They sure do have some torque!

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    Re: Golem: MX-64 4dof Hexapod project.

    Looks massive! I, too, like the T6 aluminum for brackets. Although mine's only 3DOF, and 4 legs ;-)

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    Re: Golem: MX-64 4dof Hexapod project.

    Looking good, especially the aesthetics.

    How are the tarsus servos holding up in terms of power/heat?

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    Re: Golem: MX-64 4dof Hexapod project.

    Th232 I've noticed no temperature change to touch after five minutes of walking around but more tests are needed. Power was solid with no drop but then again five minutes isn't that long.

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    Re: Golem: MX-64 4dof Hexapod project.

    Awesome project Kevin, looks great and big!
    Looking forward to see what you are able to do with a walking PC..

    How are you solving the movements for the tars part, mostly perpendicular to the ground?
    Kåre Halvorsen aka Zenta
    ---------------------------------
    Zenta's YouTube channel
    Zenta's Blog

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    Re: Golem: MX-64 4dof Hexapod project.

    Quote Originally Posted by Zenta View Post
    How are you solving the movements for the tars part, mostly perpendicular to the ground?
    Nothing as fancy as you did on your THex. It's just foot height offset by tarsus length, and the angle is femurAngle - tibiaAngle. I'd love to do some transitional angles like you did but I figured I should keep it simple to start.

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    Re: Golem: MX-64 4dof Hexapod project.

    How Much money
    Here's how I would estimate it: Math says that 24 MX-64s are 4x$1499, or about $6k. Probably need to add another k at least for computer, batteries, brackets, horns, and other hardware. (More if not heavily DIY.)
    Kevin says that Interbotix is collaborating on this, which sounds very helpful. I wouldn't know if this is mainly in knowledge, or something else.

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    Re: Golem: MX-64 4dof Hexapod project.

    I'd be happy to do a part list if anyone is curious of everything in it.

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