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Walker robots
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53/4" (150 mm) Material: 1/8" x 1/2" x 91/4" aluminum bar 90 twist 90 twist
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13/4" (44.5 mm)
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11.9 Center legs
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the left or right. The legs tilt the robot by rotating the center servo motor approximately 20 degrees. To produce the center legs, first drill the mounting holes in the center of the 1/8" 1/2" 91/4" aluminum bar. Secure the aluminum bar in a vise. The top of the vise should hold the aluminum bar 3/4" from the center of the aluminum bar. Grab the aluminum bar with pliers about 1/2" above the vise. Keeping a secure grip with the pliers, slowly twist the aluminum bar 90 degrees. Don t go fast or you could easily snap the aluminum bar. Repeat the twist on the other side. After the two 90 degree twists have been made, make the other 90 degree bend for the legs as we have done before for the front and back legs.
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Mounting the servo motors
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The front servo motors are attached to the aluminum body using plastic 6-32 machine screws and nuts. The reason I am using plastic screws is that they are a little flexible, allowing the drilled holes to be slightly off center from the mounting holes on the servo motor. The legs are attached to the servo motor s plastic horn. For this I used 0-80 machine screws and nuts. When mounting the servo motor horn on the servo motor, make sure that each leg can swing forward and backward an equal amount from a perpendicular position.
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The linkage between the front and back legs is made from 4-40 threaded rod (see Fig. 11.10). In the prototype robot the linkage is 53/4" center to center. The linkage fits inside the holes in the
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eleven
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4-40 threaded rod
53/4" (146 mm)
Pivot
Binding post & screw
4-40 threaded rod
Leg Body Plastic washers
Nuts
Close-Up
11.10 Close-up of pivot and linkage
front and back legs. The linkage may be secured using a few 4-40 hex nuts. The back legs must be attached to the body of the robot before you make the linkage. The pivot for the back legs is made from a 3 /8" binding post and screw. The leg is attached as shown in the close-up in Fig. 11.10. The plastic washers underneath the body are necessary. They fill up the space between the aluminum body and the bottom of the screw. This keeps the leg close to the aluminum body without sagging. I chose plastic washers for less friction. Do not use so many washers that force is created binding the leg to the body. The joint should pivot freely. Look at Figs. 11.11 and 11.12 for pictures of our hexapod walker robot thus far.
Center servo motor
Attaching the center servo motor to the body requires two L-shaped brackets (see Fig. 11.13). Drill the holes in the aluminum stock, and then bend at a 90 degree angle to form the L brackets. Attach the two L brackets to the center servo motor using the plastic
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Walker robots
11.11 Underside of hexapod with two front servo motors
11.12 Midconstruction of hexapod with two front servo motors
screws and nuts (see Fig. 11.14). Next mount the center servo motor assembly under the robot body. Align the four holes in the body with the top holes in the L brackets. Secure with plastic screws and nuts. Figures 11.15 and 11.16 show the under side and top side of the hexapod robot.
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11/4" (32 mm)
Servomotor holes: 11/64
/64 11/4" (32 mm)
/8" (9.5 mm)
/8" (9.5 mm)
Quality: 2 1:1 scale Material: /2" x /8" Aluminum bar
Bend point 90
90 11/4" (32 mm)
Bend at 90
11.13 Center servo motor bracket
11.14 Center servo motor with brackets and center legs attached
Electronics
Figure 11.17 shows the schematic for the servo motors and PIC microcontroller. Notice the 6V battery pack is powering the microcontroller as well as the servo motors. The battery pack is 16V
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Walker robots
11.15 Underside of hexapod walker with three servo motors
11.16 Hexapod walker ready for control electronics
using 4 AA batteries. The microcontroller circuit is built on a small solderless breadboard. The battery pack and circuit are laid on top of the aluminum body. Figure 11.5 shows the completed walker ready to run.
Microcontroller program
The 16F84 microcontroller controls the three servo motors. There are plenty of input/output (I/O) lines and programming space left over to improve and add to this basic walker.
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