This is a hexapod robot which consists of twelve DC servo motor controlled by a FPGA chip.The framework  is programmable and extendible.we can design different programs to make the robot react in different ways.      
    I was inspired by the Kondo KMR-M6 Robot .(Kondo is an Japanese company makes robot models) I like this kind of modern toys but they are always too expensive to afford . Then just make one by hand  ,I thought. 
    The general idea is to carve every part of a single leg with plywood ,which takes a long time, and then try to copy it with PU glues since the robot gets six legs.
    Now let's begin.


Step 1: What you might need


saw , electric grinder , electric drill, pencil, screwdriver,caliper


plywood , PU resin , silicon ,
screws,nuts,ball bearing


servo motors, CAD and EDA software , FPGA Minimum system board(I choosed Altera CycloneII)

<p>this is really awesome</p><p>i want to learn how to make this thing my self</p><p>can you send me the CAD files please</p><p>or if you don't mind to send CAD files, can you send me the sketch and the detail dimensions of every part..</p><p>send to j.maill.mail@gmail.com</p><p>Thanks..</p>
This is awesome. Way to go man! I know nothing about FPGA boards so I'd love to use this project to learn! Did anyone get the stl files? Thanks!!
<p>hi sir.. can i have your cad file for hexapod design? thanks (email : astrolabe.gi@gmail.com)</p>
<p>Hi,</p><p>Can i have the CAD files: FKleber@gmx.net</p>
<p>how much does it cost to make...on average.....im a little interested </p>
<p>ca i have the CAD file plz<br>ing.ben.slama@gmail.com</p>
Can I have the cad design? email me if possible at fadlin.shah1994@gmail.com
<p>Can you pls send me the cad files</p><p>nickdo80general@gmail.com</p>
i want to design a hexapod robot using arduino .i have purchased electronics,robot chassis ,servo brackets, robot legs form <br>http://danuc.com/index.php?main_page=index&amp;cPath=6 <br>http://danuc.com/index.php?main_page=index&amp;cPath=5 <br>http://danuc.com/index.php?main_page=index&amp;cPath=3 <br>http://danuc.com/index.php?main_page=index&amp;cPath=11 <br>i want u to help me to write code for the same robot using arduino IDE.
can i get your hexapod design ? i want to study about hexapod :)
nice work keep it up.
could you tell me the specification of the DC servo motor like brand, torque and...things
Wow, amazing. You must be the winner!
Hey dude! Very nice work! Can't wait to see the prototype in person when got back to Shanghai!
can I copy your cad design?
huhu awesome
WOW Love it! Ive always wanted to make one but have always been put off by the programing involved afterwards any sugestions/ ideas that might make this easier :) again love the progect
hi again :P i just love the desing of your legs :P what program do u use for the phisic desing?
hello! i love what you did here and i want to do the same thing you did to make the parts of your hexapod. how exactly did you make the molds? im new to all of this and i did not recognize any of the materials you used :D
Where is the video dude ???
Hi Adam, <br>your project is amazing. <br>I am trying to understand the mechanical part of <br>the design. <br>It seams that you use 2 different materials for molds: <br>One is translucent silicone RTV and the second is <br>PU Silen 8014, which is beige or brownish white. <br> <br>1. Is Silen rubbery and flexible like silicone or rigid <br> like PVC or polyethylene ? <br>2. What material you use for finished parts, it looks <br> chalk white, different color than Silen ? <br> If the color difference is due to lighting, wouldn't <br> the flexibility required for mold be too flimsy for <br> finished part ? <br>3. In the small U-shape piece with 8 bearings, how do you <br> keep the bearings from falling out, do you glue the <br> outer races of bearings in after assembly or do you use long screw <br> going through both linkages and both bearings with a nut ? <br>4. On bigger U-shaped pieces, one end is attached to the servo arm, <br> how did you design the second pivot ? <br> Did you glue bearing to the bottom of the servo with clearance <br> for M3 nut ? <br>5. Can you post your .dwg or .dxf drawings even if they are different <br> then the finished design ? <br>There is a lot to learn from your project, thank you in advance <br> <br>John Nickel jn126@yahoo.com
Thank you for leaving a so detailed message. <br>Firstly, the both materials I used for molds are both silicone, almost the same but in different color,which are rubbery and flexible. I failed so many times that I used out the whole bottle of silicone. So I bought another bottle. That's why you see two colors of molds. The PU 8014 is used for pouring or placing the molds to create every part. <br>1.Silen seems the manufacturer or brand of the PU 8014. PU 8014 A and B are transparency liquid , after mixed together turning into white rigid solid like polyethylene. <br>2.Finished parts are made out of the PU 8014 , which is poured into the molds. It seems you have mistaken the two materials. <br>3.I used half thread screws with diameter of 3mm and length of 14mm. Go through the joint to a nut. <br>4.I drill a hole on the other side and I changed the bottom shell of the servo, which has a cylinder axle.I is used on robots' rotation joints.The bigger parts are solid enough so that I just fixed one side of the servo arm. <br>5.I try to post it soon. BYW, how to upload an attachment - -||| <br> <br>Thank you.
Very, very impressive. You deserve my vote.
My honor : )
I don't see the CAD files. Any way you would post those so that those of us who have 3D printers can print the parts? STL files would be especially helpful.
diaobaole ..... 华丽转身yingjian dashen
Dang, you've made a neat Project! <br>Nice! :) <br>Do I spot a FAR Tools drill set, there? <br>The link to this is posted in my Blog, I've voted, and a zillion Gizmo Makers will use you PU Glue method, starting with me! <br> <br>http://faz-voce-mesmo.blogspot.pt/2013/02/abancador-e-uma-camara-para-scan-3d-uma.html
Thank you ~ I see it .
This is great, you get my vote
you are a great guy : )
Thanks so are you :)
Beautiful work, hope to see a video soon. I also agree, there's no need to always go to 3-D printing now when these great tools are readily available.
Wow,if you had suffered the wood part, you would pray for a 3d printer. Joking. <br> ASAP, thank you. : )
LOL i hear that, good to know that plan B is always near by.
You hand-cut all these pieces out of wood????? You've given me a new hope!
Yes , out of pieces of plywood , 3 mm thick each piece. Saw and shape the wood one by one , glue them together and then do some polishing and burnishing.
Have you done this with other 3D files?
Really a fantastic project! <br>Just one question, what model of servo motor have you used? (I haven't seen it mentioned) and how do they cost? (I think that's the most expensive part of the project)
Good question. I thought that there might be different types of this kind of servo motor in different country.This one I used is typed TowerPro MG995:40X20X36.5mm,0.13s/60degrees(6.0V),13KG/cm , I bought it for 27 RMB each,equals to 4.34 USD.I&lsquo;m not sure whether it is fake,but it works. <br>The electric drill tools and the servos cost almost the same.What cost most is time!!! <br>I want to mention that it should be a bottom-up design. What kind and size of servos are available decides the size of robot. Also the length and diameter of screws which is generally used and easily buying decide the diameter of drills and thickness of parts.That's the way time and cost limit practice work.
LIKE. Well done.
thanks : )
Hi.. <br>Would you have a copy of the files of your parts so I could print a set on my reprap?? <br> <br>
There is difference between the 3d model and the real one , I will try to draw it back .Stay tune.
Great instructable. <br> <br>For &quot;concreted&quot; you might want to use &quot;solid&quot; but we all understood what you meant. <br> <br>Thank you, <br> <br>Ralph
LOL , you get it! : )
This thing is awesome. Impressed with the fact you made the mold blanks from plywood. We need to see video of this thing. Awesome
Thank you :) ASAP

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