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Thread: MX-Phoenix hexapod and some more

  1. #41

    Re: MX-Phoenix hexapod and some more

    Sounds like fun! If you come up with a design, I can also hopefully print them here as well

  2. #42
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    Re: MX-Phoenix hexapod and some more

    Wooo! I saw these on instagram when I woke up. Very nice job

    Afaik there isn't an available 3d printed foot switch for the PhantomX.. I'd love to try it out sometime
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  3. #43
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    Re: MX-Phoenix hexapod and some more

    Thanks R3n33! Glad you liked them.
    I've been thinking about feet sensor for the PhantomX, since I only have the MKI legs I'm not so sure if they are the best leg design for the TA part. I think more like the MKII/MKIII are better since the foot point in a more direct (perpendicular) to the ground. Since I don't have the MKII I might try to design a new tibia or maybe a completely different hex using the AX-servos.

    Quote Originally Posted by KurtEck
    Sounds like fun! If you come up with a design, I can also hopefully print them here as well
    Yeah sure! You have the MKII? Is the foot section the same as the MKI?
    Kåre Halvorsen aka Zenta
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  4. #44

    Re: MX-Phoenix hexapod and some more

    Actually I have the MK3... I am pretty sure different than MK1

  5. Re: MX-Phoenix hexapod and some more

    Hey guys,

    terrain adaption is honestly the only thing i am missing on my phantomx (MK2) for years now. Just happened to find the time today to get the dust off the robot and started searching around for some news on this project... and what must I find? This Thread!
    I actually have a good solution getting the body levelled with an IMU and my camera on top has its own gimbal, but yours looks so much smoother with the foot sensors! I need to get there as well .
    Great Job!!

    Cheers,

    Micha

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    Re: MX-Phoenix hexapod and some more

    Quote Originally Posted by SunDog View Post
    ... yours looks so much smoother with the foot sensors! I need to get there as well .
    Great Job!!
    Thanks for your comment! It's also possible to use load reading only as a foot sensor to. But it isn't equally reliable as a physical switch/sensor. Here is a video testing proof of concept using load readings only.
    Kåre Halvorsen aka Zenta
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    Re: MX-Phoenix hexapod and some more

    Hi,

    I'm looking for some larger rubber feet and found these on Amazon. I'm not sure if they are good enough, since I would like some that has good friction especially on wet surface and maybe some "knobbly" texture. They seem to be hard to find and I was just wondering if anyone had some good tip where to get them.
    Kåre Halvorsen aka Zenta
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  8. Re: MX-Phoenix hexapod and some more

    Hi,

    can't help you with the rubbers, but two thoughts on it:
    As you own a 3D Printer you might want to try out NinjaFlex, or Semiflex and make your own. I got awesome results with it. Semiflex has the haptic of a bike tyre. Ninjaflex is more silicone like.
    For my feet, I used some profiled RC tyres... (sorry for the mud )
    Click image for larger version. 

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    Regarding switches... I am currently trying to find a design, that incorporates the stock feet and just replaces the foot tip.
    The only drawback I see in your solution is, that you must come from a straight angle to trigger the switch.
    To get a better attack surface I am thinking about a round lever, with a displaced axis...
    Printing that right now, sorry for the sketchy design... will make it prettier, if something works:
    Click image for larger version. 

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    Cheers,

    Micha

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    Re: MX-Phoenix hexapod and some more

    I thought you might be interested in seeing this. It's to fit between the two side-plates of the Mk III foot.
    Click image for larger version. 

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    I believe it's ideal for feet to be rotatable. The lower square (to the right) carries two oilite bushings, which lets the shaft (and the foot) rotate freely. I'll use a spring and a couple of collars to hold the foot extended. I want to be able to lift the leg to sense forward obstructions.

    I'm working on placing the Pololu IR analog sensor inside the upper square. It will sense the upper collar's position, and it's output will be processed by a Amtel ATtiny102 microcontroller, also located within the upper square.

    I plan to have the foot send just one or two bits of data to the hexapod's main processor. Since I can edge-trigger on the leading edge of the data, I expect to obtain sensor-to-processor latencies in the 10's of uSec. The low latency means I can integrate both touch-down and lift-off into the position calculations, and react to events that fall outside expectations.

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    Re: MX-Phoenix hexapod and some more

    Quote Originally Posted by SunDog View Post
    As you own a 3D Printer you might want to try out NinjaFlex, or Semiflex and make your own. I got awesome results with it. Semiflex has the haptic of a bike tyre. Ninjaflex is more silicone like.
    Sounds like a good idea. I do actually have a roll of white Semiflex that I've not tried yet. I'll sure try it out one day.

    Quote Originally Posted by SunDog View Post
    The only drawback I see in your solution is, that you must come from a straight angle to trigger the switch.
    Well, it does actually work from an angle of about 55 to 125 deg to ground. Later I might try to go for an even more reliable solution. But I prefer to have a foot that has a hemisphere shaped foot. Kevin gave me a good tip using a walking stick tip, they come in lots of different shapes.

    Nice solution you got there. Let us know how it worked out.
    Kåre Halvorsen aka Zenta
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