Hexapod V1.0 (Developed 2001)

 

Control 

The Hexapod pictured has two Rx16-50 Servo boards to drive the servos. The Rx16-50's are driven via a serial link to a host PC which is doing all the calculations for leg placement.

 

Processor 

The PC which is currently used for the calculations is a P200 MMX, nothing fancy, in fact the software will run on a P75, possibly even a 486DX class processor. We hope to create an optimised version of the software that will run on an embedded 386SX computer onboard the robot, however, the kits will be made for use with a host PC via serial link.

 

Power 

The power source is a 4.8V 1700mah NiCd pack which is held between the upper and lower body plates. A 6V 3000mah NiCd pack is currently being tested, which provides more torque from the servo's and longer life.

 

Sensors 

None. Our goal is to provide the walking platform only. it will be upto the end user to add their own sensors. However, The robot under test is fitted with a Pan and Tilt head with a small B&W CCD camera. This part was just fopr fun, but the plan is to have a head attachment for carrying sensors or cameras.

 

Weight & Size 

Weight: aproximately 1.1Kg with 4.8V battery pack and two servo drivers.

Size: aproximately 320mm X 290mm leg span. Body: 250mm X 125mm.

 

 

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