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Robots
Hexapod (Mark 1) and N-Pods (Mark 2 and Mark 3)Mark 1 - Prototype and Test-Vehicle 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. Open video in new window And here we have the first movements of the robot. It could be smoother, but the main software architecture is set up now. Remaining job is to enhance the movement. Open video in new window |
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