bugbot
A hexapod walker robot that employs three servos. It utilizes a Parallax Basic Stamp I as its control unit, which is essential for its walking functionality. The body of the hexapod is constructed from standard Radio Shack protoboard, lacking copper or traces, making it lightweight yet somewhat fragile. The dimensions are approximately 6.5 inches long by 3.5 inches wide, featuring two cutouts for the outer leg servos, positioned 0.75 inches from the rear of the board. The dimensions of these cutouts depend on the size of the servos used. The legs are fabricated from discarded PC boards, specifically from PC I/O cards, which were repurposed by unsoldering components and using a scroll saw for cutting. The center leg is designed to match the length of the outer legs protruding from the robot's sides and is mounted such that the center point of the servo horn aligns with the chassis center, evenly spaced between the front and rear legs. The center leg spar is attached at the low point on the servo wheel to introduce a slight sway in the robot's motion. The outer servos are secured with screws, while the center servo employs double-sided sticky tape and is additionally secured with a tie wrap. Each leg consists of two components: a horizontal spar connecting to a servo or pivot joint and a vertical piece connecting to the horizontal spar. The legs are approximately 0.5 inches wide, determined by the available material from the PCB. The upper and lower segments of the outer legs measure 2.5 inches in length and are bonded together with hot glue, allowing for some flexibility due to a notch in the upper leg section. The legs are symmetrically positioned to enhance the "bug" appearance. Rubber grommets are affixed to the feet of each leg to improve traction on carpeting. The robot operates using three unmodified servos, with the front and rear legs linked by a drag link coupling. The rear legs are connected to servo horn wheels for optimal power transfer, while the front legs pivot at a low-friction joint. The servos are mounted in holes cut into the main chassis deck, positioned approximately 90% towards the back. The center "legs" consist of a single beam with feet on either side. The control system is a Parallax BASIC Stamp I, which is pushed to its limits to manage the robot's operations. The robot can move forward, reverse awkwardly, and turn left and right. Additional circuitry includes a 10K pull-up resistor for front bumper switch detectors and an IR object detection module.
The hexapod walker robot's design integrates several critical components that contribute to its functionality and performance. The use of three servos allows for basic locomotion, with the front and rear legs connected through a drag link system that enhances coordination and stability during movement. The choice of materials, such as the lightweight protoboard and repurposed PC boards, balances weight and rigidity, although careful handling is necessary due to the fragile nature of the assembly.
The chassis design is essential for maintaining the robot's structural integrity while allowing for the necessary movement of the legs. The cutouts for the servos are strategically placed to optimize the mechanical advantage and ensure that the servos can operate effectively without interference. The flexibility introduced by the notched connection between the upper and lower leg segments is a thoughtful design choice, allowing for dynamic movement that mimics biological locomotion.
The integration of the Parallax BASIC Stamp I as the control unit is pivotal, as it provides the processing power required to coordinate the servos and respond to sensor inputs. The inclusion of an IR detection module enhances the robot's ability to navigate its environment by avoiding obstacles, while the bump switch allows for basic interaction with its surroundings.
Overall, the hexapod walker robot exemplifies a well-thought-out design that combines mechanical engineering with electronic control systems to achieve a functional and engaging robotic platform. The careful selection of components and materials, along with the thoughtful arrangement of the servos and sensors, contribute to the robot's ability to perform basic walking and maneuvering tasks effectively.A hexapod walker robot that uses three servos. It uses a Parallax Basic Stamp I for its brains, and let me tell you, its all this controller can do just to make the bug walk! Walking is MUCH more complex than just rolling! I will have more details and pics soon. The body of my hexapod is made from plain Radio Shack protoboard, no copper or traces. Its super light (critical) and fairly rigid - unfortunately, its also kind of fragile. The dimensions are roughly 6 1/2 inches long by 3 1/2 inches wide. There are two cutouts for the outer leg servos, they are 3/4 inch from the rear of the board. The dimensions of the cutouts will be determined by the size of the servos that you will be using. It works, but I have to be careful about drilling bending and tightening things. This could just as easily been a piece of hobby grade bass wood, aluminum or plexiglass. The legs are made from old PC boards that I was throwing out (PC I/O cards). I used a torch to unsolder mass quantities of parts and then a scroll saw to chop out the different pieces. I ran out for the center legs so just used what I could find there. This center leg should be as long as the outer legs stick out from the side of the robot. This center servo is mounted such that the center point of the servo horn is dead-center on the chassis plate and equidistant between the front and rear legs.
The center leg spar is mounted at the "low" point on the servo wheel, and not through the center of the wheel. This introduces a bit of sway in the motion of the robot. The two end servos are mounted using screws, the center servo is mounted with servo tape (sticky on both sides) and is tie-wrapped to the main chassis plate.
Each leg is made up of two pieces, the horizontal spar that connects to either a servo or a pivot joint, and a vertical one that connects to the horizontal spar. The legs are about 1/2 inch wide, this was arbitrary on my part, its how wide they needed to be for me to get the number of leg pieces that I wanted from the PCB that I hacked apart!
The upper (horizontal) pieces of the outer legs are 2 1/2 inches long, as are the lower (vertical) pieces of the legs. The pieces are held together with hot glue, great stuff. There is a notch cut into the upper leg section into which the lower leg piece is fitted. This allows some forward/backward flexibility of the legs. The legs are mounted equidistant from each other to maximize the "bug" look. I then glued 1/2 inch rubber grommets to the "foot" of each leg so that it could get better traction and not snag on carpeting.
This little bugger uses three un-modified servos to move the legs. The front and rear legs are tied together with a drag link coupling. The rear legs are attached to servo horn wheels and their center points pass through the center of the servo for maximum power transfer. The front legs are attached at a simple pivot joint carefully done to provide low friction with low slop.
The front/rear servos are mounted about 90% to the back of the chassis and are mounted in holes cut into the main deck to hold them. The center "legs" is really a single beam with feet on either side. The brain of the bugbot is a Parallax BASIC Stamp I. Its at its limits to run this robot though it does work just fine. The bugbot can walk forward, go in reverse (clumsily) and turn left and right. The only additional circuitry required is a 10K pullup resistor for the front bumper switch detectors, and the IR object detection module.
Bugbot circuit and electronics. Uses a Parallax Stamp I and the DPRG 12C508 PIC IR detection solution. Has a small piezo speaker, bump switch, three servos used, IR left and right detection with an IR disable line. All of this is mounted o 🔗 External reference
The hexapod walker robot's design integrates several critical components that contribute to its functionality and performance. The use of three servos allows for basic locomotion, with the front and rear legs connected through a drag link system that enhances coordination and stability during movement. The choice of materials, such as the lightweight protoboard and repurposed PC boards, balances weight and rigidity, although careful handling is necessary due to the fragile nature of the assembly.
The chassis design is essential for maintaining the robot's structural integrity while allowing for the necessary movement of the legs. The cutouts for the servos are strategically placed to optimize the mechanical advantage and ensure that the servos can operate effectively without interference. The flexibility introduced by the notched connection between the upper and lower leg segments is a thoughtful design choice, allowing for dynamic movement that mimics biological locomotion.
The integration of the Parallax BASIC Stamp I as the control unit is pivotal, as it provides the processing power required to coordinate the servos and respond to sensor inputs. The inclusion of an IR detection module enhances the robot's ability to navigate its environment by avoiding obstacles, while the bump switch allows for basic interaction with its surroundings.
Overall, the hexapod walker robot exemplifies a well-thought-out design that combines mechanical engineering with electronic control systems to achieve a functional and engaging robotic platform. The careful selection of components and materials, along with the thoughtful arrangement of the servos and sensors, contribute to the robot's ability to perform basic walking and maneuvering tasks effectively.A hexapod walker robot that uses three servos. It uses a Parallax Basic Stamp I for its brains, and let me tell you, its all this controller can do just to make the bug walk! Walking is MUCH more complex than just rolling! I will have more details and pics soon. The body of my hexapod is made from plain Radio Shack protoboard, no copper or traces. Its super light (critical) and fairly rigid - unfortunately, its also kind of fragile. The dimensions are roughly 6 1/2 inches long by 3 1/2 inches wide. There are two cutouts for the outer leg servos, they are 3/4 inch from the rear of the board. The dimensions of the cutouts will be determined by the size of the servos that you will be using. It works, but I have to be careful about drilling bending and tightening things. This could just as easily been a piece of hobby grade bass wood, aluminum or plexiglass. The legs are made from old PC boards that I was throwing out (PC I/O cards). I used a torch to unsolder mass quantities of parts and then a scroll saw to chop out the different pieces. I ran out for the center legs so just used what I could find there. This center leg should be as long as the outer legs stick out from the side of the robot. This center servo is mounted such that the center point of the servo horn is dead-center on the chassis plate and equidistant between the front and rear legs.
The center leg spar is mounted at the "low" point on the servo wheel, and not through the center of the wheel. This introduces a bit of sway in the motion of the robot. The two end servos are mounted using screws, the center servo is mounted with servo tape (sticky on both sides) and is tie-wrapped to the main chassis plate.
Each leg is made up of two pieces, the horizontal spar that connects to either a servo or a pivot joint, and a vertical one that connects to the horizontal spar. The legs are about 1/2 inch wide, this was arbitrary on my part, its how wide they needed to be for me to get the number of leg pieces that I wanted from the PCB that I hacked apart!
The upper (horizontal) pieces of the outer legs are 2 1/2 inches long, as are the lower (vertical) pieces of the legs. The pieces are held together with hot glue, great stuff. There is a notch cut into the upper leg section into which the lower leg piece is fitted. This allows some forward/backward flexibility of the legs. The legs are mounted equidistant from each other to maximize the "bug" look. I then glued 1/2 inch rubber grommets to the "foot" of each leg so that it could get better traction and not snag on carpeting.
This little bugger uses three un-modified servos to move the legs. The front and rear legs are tied together with a drag link coupling. The rear legs are attached to servo horn wheels and their center points pass through the center of the servo for maximum power transfer. The front legs are attached at a simple pivot joint carefully done to provide low friction with low slop.
The front/rear servos are mounted about 90% to the back of the chassis and are mounted in holes cut into the main deck to hold them. The center "legs" is really a single beam with feet on either side. The brain of the bugbot is a Parallax BASIC Stamp I. Its at its limits to run this robot though it does work just fine. The bugbot can walk forward, go in reverse (clumsily) and turn left and right. The only additional circuitry required is a 10K pullup resistor for the front bumper switch detectors, and the IR object detection module.
Bugbot circuit and electronics. Uses a Parallax Stamp I and the DPRG 12C508 PIC IR detection solution. Has a small piezo speaker, bump switch, three servos used, IR left and right detection with an IR disable line. All of this is mounted o 🔗 External reference