Hexa-pod

This is a hexapod ,it is a small size robot having small parts made with the 3D printer by using nylon filament.

It is easy to control and play its function.The movement are :

Forward

Backward

Right turn

Left turn

Right Forward

Left forward

right Backward

left backward

The design used for the body of the hexapod is rectangular .Rectangular body shape with six leg having three degree of freedom of each leg is its speciality. This design replicate the dynamic movement of the six-leg insects.The Hexapod design is the upgraded version of the my previous project hexapod (instructables.com/id/HEXAPOD-2/) which i had made early 2 years ago with the help of the plastic ruler.within these two years of time as i am a engineering student i had learn to use different program and software. (such as proteus and CAD) which helps me to make this hexapod up to this. I upgrade this hexapod from the first to this one replacing all the body parts .

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Step 1: Tools and Materials

To build this hexapod i had used few basic tools and are listed as:

1. 3D Printer: 3d printer is used to print all the 3d parts of the hexapod .

2.Paper tape : I used it to bind the wire in their respective places.

3. Hot glue and glue:It is used to place gear holder fixed in the places.

4. soldering iron :It is used to solder the male header on the pvc board.

MATERIAS:

I brought all the electronic component from the electronic store

and the electronic component are :

1.Arduino Uno

2.Servo motor SG90

3.Bluetooth module hc-05

Arduino Uno: As it is cheap and easy to use and in my previous hexapod i had same Arduino uno which is previously available so i use a Arduino but you can use any Arduino.

Servo Sg90:It is a light weight servo motor having good performance having(0-180) degree of operation, although i had used the servo sg90 .i would like to suggest to use servo mg90 because after several operation of sg90 servo motor ,the performance degrade as plastic gear get tear.

Bluetooth module(Hc-05):It is durable and it has high transmission speed at bud rate 9600 and can be operated through out 3-5dc voltage.

Power Source: for the power source i have a flexibility to use different power source .As hexapod can be operated in 5v dc ,hexapod can be power through the power-bank as well as general mobile charger or through the usb port of the laptop usb port.

Step 2: Building the 3D Parts

As there are lots of platform for 3d modules CAD software and with any basic info and knowledge on command anyone can build their own 3d modules. For the design of the 3d modules i used a online platform (onshape.com)

For the design of the 3d modules ,first i need to crate the account and login as i have create a student account i can access all the features of the onshape.

For the design of the 3d modules i have taken design reference from the one of the project available on this instructables sites(https://www.instructables.com/id/DIY-Spider-RobotQuad-robot-Quadruped/) .I took reference of that project for the design of the component of my hexapod, but all the design are done by me similar to them.

Generally in my hexapod ,these are the component used

1.Upper body part x1

2.Lower body part x1

3.Left Coxa x 3

4.Right Coxa x3

5.Femur x6

6.Left Tibia x 3

7.Right tibia x3

8.Sholder x12

the 3D modules can be download through this link:

https://drive.google.com/drive/folders/1YxSF3GjAt-...

lets check out the design of the 3d modules with deminsion:

Step 3: Wiring and Connection

For the wiring of the hexapod i have design the circuit diagram on the proteus and develop the circuit on the pvc matrix board as shown in photos. The connection of the servo motor are common like as

servo motor (1-7)

servo motor (2-3)

servo motor(5-6)

servo motor(8-9)

servo motor(11-12)

servo motor(14-15)

servo motor(17-18)

Servo motor(10-16)

Step 4: Assembling and Simulation on the Cad

Now let see the simulation of the legs of the hexapod how it get the three degree of freedom.

The most consuming time of the project is to design the 3d modules of the different parts and printing them as well as simulating the circuits.

The most common technical problem occurred this project at first is power management & weight management for to overcome power-supply problem , the supply of the power to the servomotor i have directly connect the jumper from below the Arduino port A/B. And also taken 5v dc supply from the Arduino board by which the currant supply get increased by remaining 5v supply by which i get the benefits like as my hexapod can be operate using any ordinary mobile charger , power-bank or usb port of the laptop. And for the maintain weight and centre of gravity uniformly even when its legs get up in the air i have program the hexapod in such a way that it replicated the movement of six leg insects . First three legs get rise and move then they land and after that remaining another three legs get up and move then land by which all the weight get on the centre of the body.

Step 5: Arduino Code and Mobile Apk

After printing 3d modules and collecting all the hardware and assembling them i program the Arduino as our requirements. I have code the hexapod like as it replicate the movement of the insect as it moving forward ,backward, uprise, downfall ad so on.

And for to give the command and control the hexapod i developed the android apps as my requirements and program (coding) that i have sone in Arduino . For to show my hexapod its function of dynamic movement here is a pic of my apps . This apk has the button (push button)and provides the special individual code to conduct the specific function.

Here the code:

Step 6: Finished

After assembling all the hardware and programming arduino and mobile apps. finally this hexapod is ready to operate .

I had upgrade this hexapod from the my first hexapod to this as shown in picture , which i have done using different knowledge acquired from my engineering courses as well as through the help of the different post related to hexapod on this site instructables.com

As this project is one of my student career big achievement . I will continue to upgrade it furthermore and do other project.

so if anyone has any question related to pod robot or my project"hexapod" just ask it.

Here is a some glimpse of my hexapod where my nephew is controlling hexapod and having some fun.

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    4 Discussions

    0
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    AsherT

    Question 5 weeks ago on Step 6

    Great work, But how are you powering the setup? what kind of batteries?

    1 answer
    0
    None
    moldyflyerAsherT

    Answer 5 weeks ago

    i have use a powerbank as a powersource as well as i can connect the arduino directly to the mobile charger adaptor and i can use my laptop through the usb port . for the current management i make a jumper in the arduino board which helps me to gain 5v supply directly from powersource as well as i have connect the matrix board with arduino 5v pin on the left in parallel with jumper wire on arduino

    4C11B350-593E-4B5C-95FB-D7F720BB1498.jpeg