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

  1. #11
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    Re: Golem: MX-64 4dof Hexapod project.

    Quote Originally Posted by KevinO View Post
    I'd be happy to do a part list if anyone is curious of everything in it.
    Please do, it might make some of us feel better about our own robots.

  2. #12

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

    This is awesome. Nice work!

  3. #13
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    Re: Golem: MX-64 4dof Hexapod project.

    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.

  4. #14
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    Re: Golem: MX-64 4dof Hexapod project.

    So the camera/head pieces came in on Friday. Here is a picture of the test fit before I move the antenna to the top of the head and add in the camera.

    Click image for larger version. 

Name:	cameraFitTest.jpg 
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ID:	5434

  5. #15

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

    Looks great, which camera are you going to use on this? I assume not the ASUS Xtion?

  6. #16
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    Re: Golem: MX-64 4dof Hexapod project.

    It will have a Point Grey Blackfly gigabit camera. http://www.edmundoptics.com/imaging/...e-cameras/3619

    Although I have a Primesense sensor and a ASUS Xtion I'm torn on using them. OpenNI2 is going away come April unless someone decides to fork and or host it. Although ROS will still support it for the next couple of releases unless the license is changed.

  7. #17
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    Re: Golem: MX-64 4dof Hexapod project.

    Hi Kevin,
    Very cool looking head/camera, the whole hex looks great and massive! Is the head both pan and tilt?
    Kåre Halvorsen aka Zenta
    ---------------------------------
    Zenta's YouTube channel
    Zenta's Blog
    Zenta's Instagram

  8. #18

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

    Quote Originally Posted by KevinO View Post
    Although I have a Primesense sensor and a ASUS Xtion I'm torn on using them. OpenNI2 is going away come April unless someone decides to fork and or host it. Although ROS will still support it for the next couple of releases unless the license is changed.
    That is sort-of sad. I did not realize that Apple bought up Primesense and sensors are no longer available and the website will be gone next month...

  9. #19
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    Re: Golem: MX-64 4dof Hexapod project.

    Quote Originally Posted by Zenta View Post
    Very cool looking head/camera, the whole hex looks great and massive! Is the head both pan and tilt?
    Right now it is just pan. Although it could be easy enough to add a tilt since I'm using the servo hole pattern to mount it to the bracket.

  10. #20
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    Re: Golem: MX-64 4dof Hexapod project.

    Quote Originally Posted by KurtEck View Post
    That is sort-of sad. I did not realize that Apple bought up Primesense and sensors are no longer available and the website will be gone next month...
    It is indeed sad. It was a great sensor for its price point. Plus, openNI was a nice open source project. What's worse is the structure io sensor that was funded over on kickstarter uses their components. They have enough to cover their initial product release but will need to find another resource if they want to continue with that product.

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