Ok,

So this is just a bit of fun, but has been in the back of my mind for some time now, and seeing one of Zenta's videos prompted me to give it a go.

Using B.F.Hexapod with an additional floating pen attachment, and a utility I wrote to convert DXF files into translation commands for my p.Brain controller, I have got the start of a walking CNC router! Why... I don't know.. it just seemed like a good idea at the time!

__a href="http://http://www.youtube.com/watch?v=7hEXwyJ2B78" __Watch the video here.

I still have to add a small routing head and test the cutting capabilities, but you get the idea. Resolution of the work area is pretty low, somewhere between 7 & 8 bit, with about 0.5mm repeatability, so it's never going to make precision parts! Also I have only implemented straight lines within the p.Brain, so the utility converts arcs and circles into segments.

One obvious improvement to resolution & repeatability is to have a work surface (in this case paper) that doesn't move around, in this video the only thing holding the paper in place.. is the hexapod's feet. In order to keep the router out of the way while walking, I plan on attaching a servo to the router head to swing the head from a horizontal to vertical position. Or maybe I will have come to my senses by then!! If I'm really mad I could try some 3D milling.. as technically the hexapod Is a 6 axis CNC machine.

Matt.

Update on the router progress.

I have just about finished the router head, it took a bit of fiddling to get rid of the vibrations, but managed to find a small thrust bearing used on RC helicopters that did the trick. I have yet to mount it to the hexapod, plus there are a few tweaks to the spindle height, but it's more or less there.

You can see a picture of the router head in the development section.

The collet I have made currently takes 1/8" bits, but I need to finish the 3mm version as most of my small router bits are 3mm shank. The motor is a 14 turn 380 brush-less motor, which gives about 3600 rpm/volt, so plenty fast enough! It will run from 6 to 10 cells, I think I will add a heat sink, as it tends to get a little warm even under no load. The MUX servo moves the spindle 40/50mm up and down the guide rails to the work surface.

Looking forward to getting on the hexapod and running some g-code through it, but work is slowing me down.[/img]