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In position A the center legs are rotated CW by about 20 degrees from center position. This causes the robot to tilt to the right. The weight distribution is now on the front and back right legs and the center left leg. This is the standard tripod position described earlier. Since there is no weight on the front and back left legs, they are free to move forward as shown in the B position of Fig. 11.6. In the C position the center legs are rotated CCW by about 20 degrees from center position. This causes the robot to tilt to the left. The weight distribution is now on the front and back left legs and the center right leg. Since there is no weight on the front and back right legs, they are free to move forward as shown in the D position. In the E position the center legs are rotated back to their center position. The robot is not in a tilted position, so its weight is distributed on the front and back legs. In the F position, the front and back legs are moved backward simultaneously, causing the robot to move forward. The walking cycle then repeats. This is the first gait pattern I tried, and it worked. There are other walking patterns you can design, develop, and experiment with. I will leave it to you to develop walking patterns for reverse (walking backward), turning left, and turning right. In my next book on robotics, I will continue the development of this robot, providing wall and
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11.6 Hexapod s walking gate
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Servomotors: H5300, 42 oz
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8" (203 mm) (59 mm) 25/16"
11/ 64 3/ " 16 (5 mm)
(25 mm) 1"
bracket holes for third center servomotor
1/ 4
2" (51 mm)
Pivot holes for back (25 mm)
3/ " 4
3/ " 4
(19 mm)
(19 mm)
3" (76 mm)
11.7 Main body
collision sensors as well as providing the ability to walk backwards and turn.
Construction
For the main body I used a sheet of aluminum 3" wide, 8" long, and 0.032" thick. The servo motors are mounted to the front of the body (see Fig. 11.7). The drawings of the servo motor holes shown should be photocopied and taped to the aluminum sheet. The photocopy will provide accurate hole locations for mounting the servo motors. The four 11/64"-diameter holes a little past halfway down the main body are for mounting the center servo motor. These four holes are
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Front leg (quantity: 2) 23/4" (70 mm) Servo horn mounting holes
Back leg (quantity: 2) 23/4" (70 mm) 1 /4" hole
Linkage hole
Linkage hole
2" (51 mm) 90 33/4" (95 mm)
13 1 /4" hole 3
2" (51 mm)
/16"
Top view
1 /16" hole (for 0-80 screws) (Holes to mount to servomotor horn)
31/4" (82 mm)
Material: 1/8" x 1/2" aluminum bar stock
11.8 Construction of front and back legs
offset to the right side. This is necessary to align the servo motor s horn in the center of the body. The bottom two holes are for mounting the pivots for the two back legs. Use a punch to dimple the metal in the center of each hole you plan to drill. This will prevent the drill bit from walking when you drill the hole. If you don t have a punch available, use the pointed tip of a nail for a quick substitute. The legs for the robot are made from 1/2" wide 1/8" thick aluminum bar stock (see Fig. 11.8). There are four holes that are drilled into the two front legs. The back legs only need two holes each, one for the pivot and the other for the linkage. Also notice that the back legs are 1 4" shorter than the front legs. This compensates for the height of the servo motor mounting horn on the front servo motors where the front legs are attached. Shortening the back legs makes the robot platform level. After the holes are drilled, we need to bend the aluminum bar into shape. Secure the aluminum bar in a vise 23/4" from the end with the drilled holes. Apply pressure to bend the aluminum bar at a 90 degree angle. It s best to apply pressure at the base of the aluminum bar close to the vise. This will bend the leg at a 90 degree angle, while keeping the lower portion of the leg straight without any bowing of the lower portion. The center legs are made from one piece of aluminum (see Fig. 11.9). The center legs are about 1/8" shorter than the front and back legs when mounted to the robot. So when centered, the legs do not support any weight. These legs are for tilting the robot to
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