Step 7: Prepare motors for mounting

After drilling the holes for the motor mounts, the motors need to be prepared for mounting.

Locate one motor, along with an aluminum motor linkage, the set screws for the linkage, and a 5" 3/4-10 bolt. First, place the 5" bolt in the hole closest to the slot for the drive shaft, and place the bolt so that it will be pointing away from the motor when the linkage is attached to the motor. Next, place the linkage/bolt assembly on the drive shaft. Add the nut to the end of the drive shaft (my motors came with nuts for the drive shaft), and thread in the set screws by hand. Finally, tighten nut on the end of the drive shaft as well as the set screws.

Repeat this step for the other motor.
This is an absolutely exceptional project! Seriously well done on it. :) Do you know how much it cost you by the end?
<p>Thanks! Out of pocket expenses were under $200, but keep in mind I had a lot of parts donated (motors, batteries, steel tubing).</p>
Hi rpantaleo! Question: What did you end up doing with it in the end? I'm looking to exit my hexarideablepod gracefully, so I'm thinking of scrapping it for parts. Did you just end up hanging it from the ceiling or leaving it with your department or something?
I stripped the motors and batteries out and gave them back to the Robotics Club. The rest of the machine has been sitting in my garage for a couple years - I plan on turning it into a coffee table (welding the legs in place then putting a piece of plate glass on top).
thanks for the info! okay, I will probably take it apart for scrap steel and parts then.
This is AWESOME. If I can get a hold of the parts I'm totally doing this. I may want to invest in some shocks though...
How fast does it move with 24 V?
Never tried it. Probably about twice as fast?
you should put some tennis balls on tha feet so it doesn't scrape so much on tha floor. <br>
Just posted a video of a build derived from this instructable<br><br>http://www.youtube.com/watch?v=0jMmebn49EM
This is awesome! Great work!
@rpantaleo do you have dynamics calculations for finding minimum torque at the robot?
Unfortunately, I do not.
can this be made with just 2 batteries 2 motors and 2 seprate switches for the motors?
what a nice robot... i have a question about the motors. So those 2 motors are different type aren't it ? the one is for left side, and the other one for right side??<br><br>and those motors are for wheel chair motor? I'm from Indonesia , and I must think where can I find the motors.. please reply.. thank you very much
The motors are identical except for the gearbox. One has a gearbox that outputs to the left, the other to the right.<br><br>You may be able to find these motors on ebay.
Wow awesome! This wheel chair is amazing; if you would add treaded feet and shock absorbers to the chair then it will much better.<br><br>http://www.metal-supplies.com/12201/index.html
Yes, very cool project. <br><br>Rubber treaded feet with absorbers was the first thing that came to mind for me too while watching the video<br>
I think that if you put rubber pegs on the legs, you might be getting better results considering movement!
Wow awesome! This wheel chair is amazing; if you would add treaded feet and shock absorbers to the chair then it will much better.
sir please send microcontroler circuit <br>
I'm afraid the only circuit/schematic I have is the one in Step 16. Sorry.
sir i am using two 12v 4Amps batteries those are sufficient for run the motor
If you plan on riding on it, no. Otherwise, it may work with no load on the robot.
not for riding on it ,if riding on it what is the capacity of batteries means voltage and current
One or two batteries like this should be sufficient.<br> <br> <a href="http://www.amazon.com/UB12180-Sealed-Lead-Acid-Batteries/dp/B001DL7D1O">http://www.amazon.com/UB12180-Sealed-Lead-Acid-Batteries/dp/B001DL7D1O</a><br>
circuit for connecting two motors
which micro controler is used for this project and also mention the number of micro controler<br> circuit board for connections<br>
I used an older version of the&nbsp;<a href="http://arduino.cc/en/Main/ArduinoBoardUno">Arduino Uno</a>&nbsp;for this project. I used 4 digital input pins for the main control circuit.&nbsp;
how to analyse this model in ansys for static and dynamic analysis
I haven't used ANSYS much, so I'm really not sure. I used SolidWorks to make the model, and SolidWorks has a built-in analysis program, which is what I would use.
2 3&quot; 3/4-10 bolts what is this means<br>
2 bolts, 3 inches in length, 3/4 inch diameter, 10 threads per inch.
thanxs dude
This is brilliant. I wonder how much better it would be if you would add treaded feet and shock absorbers to the chair (kind of like what they use on public buses.) <br> <br>Build it bigger and with armor plating, you'd get the military's attention!!
where did you buy that mill and how much?
I believe the mill was a donation from the CMU Robotics Institute machine shop. We didn't buy it.
where did you guys buy the mill and how much?
can u upload a pdf file of microcontroler and relays because i am not good in electronics and it is confusing and i am new in robotics
I'm afraid the schematic on Step 13 is the best I'm going to be able to provide.<br> <br> In light of that, here is a forum thread on connecting relays to an Arduino: <a>http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1196698219</a><br> <br> Keep in mind that you really don't need to use a very complicated circuit to control the hexabot. I used a microcontroller and more complicated circuit because it was required for the class I was taking, but realistically all you need is a couple high-current rated switches to turn power on and off to each motor.
Great project, looks like loads of fun. <br><br>I do see some room for improvement in the legs. Why not hook up small shock dampeners in the legs, between the tubing and the feet? Something like the air shocks that hold open the rear hatches on SUVs should do the trick. I think one of those in each wheel, with of course a plastic foot on it, would even out the ride considerably, and make the whole process a bit more effective (not to mention easier on your spine!).<br><br>Even as it sits, it's an awesome project. When I get old, screw a wheelchair, I'm building one of these. XD
can we use other types of moter like 'a car starter or moter used in wiper in car'
A car starter motor would require some sort of gear reduction to reduce the speed and increase the torque. <br><br>A windshield wiper motor would work but the torque output would be too low for you to ride on it.
great robot, you guys are very talented, I was wondering if it would be possible not to use the middle legs? Maybe keep the top part to connect the front legs but cut out the bottom half???
The middle legs are actually what move the robot so they'd have to stay. It might still work if you remove either the front or back set of legs.
This is awesome! Unfortunately I have major budget constrainsts (as in I need to make this for $10 or less), so I'm going to make a pedal-powered version out of spare bike parts instead of using motors :D. If I make it, I'll post a picture on here.
I think when you put a rubber feet on his legs it will add more grip to it.i mean a bigger grip, not that small white thing :p

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Bio: Mechanical Engineer, photographer
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