The Quadruped Scorpion.

[innerbreed]

Hi Guys, well i managed to start another quadruped project and here is a sneaky peak:

Using the MSR-H01 Chassis kit that arrived today, (thanks Matt) i have created the quadruped scorpion by reversing the chassis head-tail to give me two mounting holes for grippers.

ENJOY>>>




Tail design! you can see it still needs the end section.
this is just an idea and i will be changing this to use the micro brackets!


also the front grippers will be change. only shown like this as an example of idea.

Feedback and ideas welcome.

[Matt Denton]

Looks great!!

Can't wait to see this on on the move.. nice work.

[FlowbotX]

That is incredibly clever. I love it!

[innerbreed]

That is incredibly clever. I love it!

Thanks..

im hoping to start putting the rest of it together sometime soon. Been rather busy renovating my house. (Open plan).

Anyway i plan to use micro brackets for the front grippers and also for the tail.
The tail will have 3DOF, while the front will only have 1DOF In each side.

A problem i am facing is im using hs645 servos with lynxmotion SES And the servos hit the hexstandoffs inside the chassis. (Obviously its not designed for these but thats what i intend to use) so i may convert to using HS-225MG's and the Coxa & Femur Servo brackets that came with the kit, or i will reposition the holes for the standoff so that they wont make contact.

But....
also im having to stack the boards on the top of the chassis rather and inside due to the servos hitting them 'as they rotate.

i think to kill two birds with one stone 'and also to save time, i may mount the coxa servos so the servo casing points out rather than flush (inline) with the chassis and then mount the femur servo to the end of it.

this would make the legs spread out a bit more but i think i can work with this.

i have lots of plans for this robot so once i get time i will give you a better update..


thanks for your interest.

[innerbreed]

Tail with a sting!




using one of the spare tibia's i have managed to use it along side the Multi-Purpose Servo Bracket (ASB-04B).


i have sorted the Coxa problem by changing the orientation. Now they dont hit the standoffs as well as the boards. 8)

[Matt Denton]

Looks great! look forward to seeing it on the move...

[BillB]

Very, very nice. You never cease to impress.

Great re-use of the parts - especially the use of the Tibia as a Metasoma(aka tail).

Look forward to seeing it moving around. The trick with Quads is to be aware of the centre of gravity (COG) in every phase of the Gait. The servo in the Metasoma will become very useful when walking - if you can time it properly the Metasoma be used to dynamically shift the COG. Thus making a very effectice, and adaptable Quad gait.

[innerbreed]

Thanks. Well the code i have written for this allows the body to shift its X axis while walking. (Swagger) so it can move its COG but yes it will also need the tail to help with the shift. Plus help balance out the front grippers once installed. Im still working on the best way to arrange them so that they look good and work well. I should start work on them soon. The gait is very adaptive without the tail at the moment, and i will be using FK for the tail as well as IK once iv written that part,

[BillB]

Innerbreed wrote:

Plus help balance out the front grippers once installed

Indeed, the grippers will push the COG closer to (if not beyond) the front legs.

Keep up the great work.

[innerbreed]

just an idea iv been toying with. i have almost finished all the femurs and i have also sprayed the tibias too.


Here shows the 9v battery clip, that i must say 'is a genius idea.


another image before new parts added: