The Mark 1 Hexapod is basically used for testing and prototyping. The assembly is printed with a 3D printer.
Focus of the design is based on feature testing, correct localization of servos, cables, batteries and electronics and
dimensioning of legs. The current set-up is not taking care of weight optimization, power efficiency or easy construction.
Dimension of the current set-up is:
Width: 60 cm
Height: up to 40 cm
Length: 60 cm
Weight: 2-3 kg
Mark 2 - Generic Links, Joints and Body-Elements
The Mark 2 N-pod is designed to be more flexible in terms of robot configuration. Joints, links and the whole body do not
need to follow a strict architecture. Standardized joints and clutches can be linked together to build pods with four, six,
eight or even more legs.
Design and 3D-print to check tolerances and assembly.
Mark 3 - Weight optimized Mark 2
One disadvantage of both previous prototypes has been the weight of the legs carrying analog large
servos and a heavy surrounding structure. The Mark 3 N-pod uses digital servos with same torque but
drastically lower weight and reduced size. The previous idea of having a generic link where just the
servo pocket needs to be exchanged when the servo type shall be exchanged is inefficient in terms
of weight optimization. The new design is a bit more inflexible (the structure is capable of just
one type of servo) but this allows to dramatically reduce size and therefor weight.
New Generic Joint with reduced size and weight.
Generic Body Element.
Customized Generic Body Element ready to carry Tinkerforge Bricks
Detail view of final printed version with Tinkerforge Bricks already attached
Full size view of N-Pod with 2 Degrees of Freedom each leg
This is a demonstration video of the robot designer. In a later development stage robots can be
designed, simulated and customized prior ordering the hardware.