[I am a maker series] Robotic Hexapod | production, testing and evaluation

Every kid must have a dream to own a robot or a robomonster And use a watch or some device to control it Carlos is no exception So I often teach my students To have endless imagination Because something I couldn’t have decades ago As long as I have my imagination, I can have it today Just a reminder, if everyone likes the channel of Carlos the OrganMan Please click subscribe in the lower right corner If you want to be notified of new videos as soon as possible Please click the bell You are also welcome to add likes and comments Carlos has made a lot of movable projects For example, Mecanum car, vacuum forming micro:bit boat, etc. But I always hope to make something that can walk on feet Talking about robots that walk on feet You won’t forget Boston Dynamics No matter four-legged or two-legged Their robots are very good Carlos understands that these high-tech robots are not easy to make But if I don’t start with simple mechanics to learn something about robot, I will be unwilling So I keep on researching for many years Recently I like to read information about robotic hexapod I think using Arduino with servo and programming As a maker, I should be able to make one I find many examples I chose a simple one that is easy to make To save time Carlos downloaded part of the author’s 3D parts I hope to print one leg and try it out It took five hours to print the parts of only one leg I also prepared 3 MG995 servos, bearing There are also swing arms for servos, screws, etc. The installation is not complicated at all This is the main part, MG995 should be installed in it The method is to put these knurled nuts into the holes of the 3D part with heat Then you can install screws When the four screws of the main servo are installed Then insert two knurled nuts to install the second joint Of course, MG995 servo should be installed in the second joint also The installation is almost the same As for the servo swing arm, cut it short To match 3D part Before installing the third joint and the servo we need some accessories Install the last few long screws The whole claw is almost complete We test the three joints and they are quite smooth With experience, quickly make the second claw But remember that the two claws are symmetrical The first joint needs to be mirrored before printing Carlos had made a Mecanum car I use acrylic as the platform, but it broke So I make my mind at the beginning this time to use 6mm aluminum as platform Aluminum plate with this thickness must be processed by CNC So I first import the diagram into ArtCAM You see that these six holes are for mounting bearings I have to judge the depth of the inner circle and outer circle After choosing the tool for cutting aluminum plate Let’s simulate it first Then export several sets of toolpaths into Gcode For those who have watched the video Carlos introduced CNC Should be familiar with this machine Actually the operation is very similar to 3D printer Respectively, 3D print uses additive modeling but CNC uses subtractive modeling After the platform is completed, continue to make the top plate The top six holes are different from the bottom six holes The six holes on the platform are round for mounting bearings The six holes on the top plate are for the swing arm of the first joint So use CNC to cut this groove And completely insert the swing arm into it so the servo can exert force on the plate Simulate first, and then export to Gcode Then you can put it in the machine for cutting You can see that the six grooves are neat The swing arm of the servo should be able to insert The platform and the top plate are finished We try to install the robotic arm on it There is a bearing at the bottom of the first joint, which is installed on the platform The distance between the platform and the top plate is fixed by two 3D printed parts When the distance between the two is fixed, put the top plate on and screw Finally, install the swing arm of the first joint I tested the smoothness of each joint Then connect the servos to an Arduino for testing I used an Arduino UNO to drive three MG995s I found it very difficult and very slow Since we have to drive six claws in the end A total of eighteen MG995s are needed An Arduino UNO is definitely not enough So I prepared an Arduino MEGA 2560 This is the first time I introduce MEGA 2560 to you It has more than sixty digital outputs Plus more than ten analog outputs Equipped with a servo shield Enough to control 70 servos to control 18 servos to move together, you must supply power I finished the other four claws very quickly After installing them between the top plate and the platform I found the whole hexapod is very heavy I almost can’t hold it with one hand Oh, it’s on the rocks again Instead, I have to use acrylic to replace aluminum this time But it doesn’t matter, the design and make process should be like this I program the MEGA 2560 Adjust the angles of all servos to suitable values Then supply with 12V power Hey, you can stand up But why does it shake like Elvis Presley’s feet? After many experiments, I found that there are many possible problems The first is that each servo is not centered when installed So the angles are different Secondly, some servos may have quality problems It seems this one is trembling constantly, not function properly The third is this set of 3D parts I downloaded are too thin to carry the entire hexapod So if I want it to move I have to redesigned all parts I can only power it up and let it stand now If I want to program it to be able to use a phone or a watch to call I have to go a long way But it doesn’t matter, you have to try to achieve success Hope you can continue to support Carlos’s video And support me to complete my project Don’t forget to subscribe, like and share before leaving .