HEXAPOD ART GALLERY

Hexapod Robots

Re: HEXAPOD ART GALLERY

Postby Matt Denton » Tue Nov 24, 2009 5:57 pm

Zenta wrote:Maybe the RX64 would be better? Very much more expensive though. Great work Matt, as always!


Hi Zenta,

Actually the problem isn't the torque, it is the resolution! As you may know these servos are 10bit over 300 degrees. giving 0.29 degrees per step. This would be acceptable if the servos could actually achieve 10 bit position resolution, but they cant! The control electronics and algorithm is very poor, In fact its not even true 10 bit, I know this because the potentiometer used has 330 degrees of electrical travel, and the micro has a 10bit ADC, so where are the missing 30 degrees of travel going? my guess is that they are interpolating from the 330 to 300 degrees over a 10 bit range. So, the final resolution of these servos is more like 9 bit at best!

I modified one of the servo potentiometers with a 2.5x gain amplifier, thus reducing the range to 120 degrees over 10 bits. It helped, but it is a fiddly mod and the control algorithm is still pretty crap. I also took out the electronics completely and hooked the servo up to one of my own 16 bit PID servo drivers, it works great!, but there is no way it will fit in the servo case :)

I could go on.. but this is going off topic so I will stop my rant!!
Matt Denton
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micromagic systems ltd
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Re: HEXAPOD ART GALLERY

Postby blegas78 » Mon Nov 30, 2009 4:01 am

Speaking of Dynamixel motors... :(
Image
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Re: HEXAPOD ART GALLERY

Postby wattsie » Mon Nov 30, 2009 6:29 pm

Great Picture.... looks almost thoughtful!

Did you ever get a video of that head arrangement working?? Would love to see it in action!

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Re: HEXAPOD ART GALLERY

Postby Zenta » Mon Nov 30, 2009 8:14 pm

plingboot wrote:Any footage of it in action?

I just made one short demo video with my old mobile phone (sorry for the bad quality). Check this link to youtube: http://www.youtube.com/watch?v=6tR0TDsWCls

To blegas78: The 3DOF(?) head looks awesome!

-Zenta
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Re: HEXAPOD ART GALLERY

Postby Matt Denton » Mon Nov 30, 2009 9:23 pm

Zenta wrote:
plingboot wrote:Any footage of it in action?

I just made one short demo video with my old mobile phone (sorry for the bad quality). Check this link to youtube: http://www.youtube.com/watch?v=6tR0TDsWCls

To blegas78: The 3DOF(?) head looks awesome!

-Zenta


Maybe you could start a new thread in the projects section, I'm sure there are going to be more questions for your 4 dof hex :)
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micromagic systems ltd
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Re: HEXAPOD ART GALLERY

Postby innerbreed » Tue Dec 15, 2009 11:45 pm

Just remembered i did this a few weeks ago, Well you said "Art Gallery".
Image
PLUG - more art work @: http://www.facebook.com/home.php?#/albu ... 1200613669
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Re: HEXAPOD ART GALLERY

Postby HannoHupmann » Wed Jan 13, 2010 2:29 pm

My Hexa, yust for the gallery:

Image
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Re: HEXAPOD ART GALLERY

Postby ExMachina » Fri Mar 12, 2010 5:55 pm

Hi all,

thats my Hexapod a customized CH3-R from Lynxmotion.

1st version from May 2009
Image

2nd version from March 2010
Image

More information on my webside. (german language only)

http://www.exmachina-robots.com
Last edited by Matt Denton on Thu Dec 09, 2010 10:11 am, edited 1 time in total.
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Re: HEXAPOD ART GALLERY

Postby Zenta » Fri Mar 26, 2010 7:16 am

Hi,

I just wanted to update the gallery some pictures I took last summer of A-Pod. I took him outdoor to the wilderness...

Image

Image

-Zenta
Last edited by Matt Denton on Thu Dec 09, 2010 10:12 am, edited 1 time in total.
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Re: HEXAPOD ART GALLERY

Postby GOmar » Wed Aug 25, 2010 10:36 pm

This is my design for a Hexapod, made using Solidworks.

comments are very welcome.

thanks.

Image
Last edited by Matt Denton on Thu Dec 09, 2010 10:13 am, edited 1 time in total.
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