Big-Fourmi Hexapod Walking Robot
06 november 2011 | Classified in: Electronic | Tags: robot, arduino
Big-Fourmi is an hexapod walking robot I have designed and built in the scope of a final year project at university.
Video:
Project Constrains:
There is many different ways to design an hexapod robot but Big-Fourmi was influenced by 3 major constraints:
- Smooth walk: The main goal of the project was to develop a robot that can walk smoothly.
- Very low budget: The final cost was 550 Australian dollars, not including labour time. With a greater budget, a better robot can be build.
- No prototype: With such time and budget constrains, only one robot could be produced.
Components List:
- Main Controler: 1x Freetronic Twentyten
- Servos controller: 1x Lynxmotion SSC-32
- Servomotors: 18x GWS S03T STD (the cheapest servos I could find in Australia)
- 1x Micro servo (from ebay)
- 6x Small ball bearings (from ebay)
- 1x RGB LED
- 3x 220 Ohm resistors
- 1x Small Piezo Speaker
- 2x Toggle Switches
- 1x Sharp Infrared Sensor GP2Y0A21YK
- 1x 9 Volt Battery (standard)
- 1x 6 Volt Battery (to power the servomotors)
- Material: Aluminium and Plexiglass (leftover from previous projects)
Technical Details:
Electrical Diagram:
Possible improvements:
The greatest way to improve Big-Fourmi is to use higher quality servomotors.
The servomotors currently in use are pushed to their limit. Using better quality servos would produce a faster and more accurate motion of the robot.
Download:
If you want to build your own Big-Fourmi hexapod robot I am sharing the robot Arduino program and CAD assembly files.
- Big-Fourmi Arduino Program [11.7 KB]
- Big-Fourmi CAD Design (SolidWorks 2010) [21.2 MB]
Please let me know if you make anything cool with it!
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