I Finally Dealt with Wire Management for my Hexapod
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- Опубліковано 9 лип 2024
- I'm building an Arduino powered hexapod from scratch, and this video goes over the wire management upgrades I made to it.
I've been putting wire management off for quite a while, but it was finally time to take a stab at it. I made 3 big improvements that all work together to deal with this problem: Frame holes, a new PCB, and mesh tubing.
The tibia servos also got an upgrade! They are now stronger, faster, and $10 more expensive.
Next update will be adding an attack mode, make sure you're subbed so you don't miss it!
Discord Server - / discord
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0:00 - Intro
0:17 - Frame Holes
0:53 - New PCB
2:34 - Mesh Tubing
3:09 - Tibia Servo Upgrade
3:35 - Outro - Наука та технологія
this project is crazy!
Concept: Make the motor shield PCB actually hexagonal, with the connections in the corners physically as close to the legs as possible. Mount the Arduino Mega upside-down on TOP of the motor PCB. This would make wiring super easy since all the wires are not only spread apart but also identical in length. Additionally, you can now pull the micro controller out very easily since it doesn't have the motor PCB and wires in its way anymore. You could also offset the position of the Arduino toward the back, making access to the programming port substantially simpler.
Shit dude this is a really good idea wtf 🤣
Unless I find something wrong with it, I'm going to do this. Ty!
@@AecertRobotics Haha, nice. Second thought: Have you considered the Arduino Due? It has the same pinout at the Mega, but it has a substantially more powerful processor, which is even capable of multithreading. The main drawback is that it has 3.3v logic instead of 5v, so a lot of components need a logic level shifter for you to use them (though a surprising number work at either voltage), logic level shifters are easy to come by and cheap, so especially when you have a whole custom PCB, adding logic level shifters to it would probably be relatively easy. Food for thought. There's also the Arduino GIGA, but that just came out and... is sold out everywhere.
@@Lord_zeel Wait so the due is just the mega but faster? Im interested... The speed isnt needed yet, but I can see it being needed soon. Ill look into it ty!
@@AecertRobotics yes it is needed 👀🥵
Keep em coming!
I look forward to the files and electronic kit. Nice to see one of these sized for full size servos
Simply amazing! I love seeing all of the updates and new features of this hexapod, these videos are actually quite inspiring. Keep up the great work!
Thank you so much, that makes me really happy to hear :)
New video coming soon(ish)!
Looks awesome! Waiting for the release of the code and 3d models. Will be great to recreate it and learn from it.
Beautiful project
& nice channel.
Damn it's starting to look much better. Good luck with improving your project ;>
Thanks!
Good video
I am a simple man: i see hexapod i klick like. Beatiful job. But, i have figured out, that my hexo performs purely on bumpy surfaces. What about yours? I have a little interesting suggestion for you:
The problem in my robot was in that it doesnt know if he touches the ground and moves his leg‘s endpoint anyway. I saw one guy on youtube, he placed a little button like thing on the end of each leg (simple construction: if leg doesnt touch the ground spring pushes button outside and circuit is open, if leg touches the ground, then under the weight of robot circuit closes). It gives so much interesting abilities (especially in meaning going offroad with your hex xD). Robot will move his leg according to the knowledge if he touches the ground or not and sometimes it will save him from falling
😄 Thank you!!
It would probably be fine, but id need to raise the leg lift height so the legs dont get caught.
So i actually already have buttons on the feet! They arent being used atm, but they are there 🙂
Totally agree btw, its super helpful info to have. A gyroscope would be nice as well...
@@AecertRobotics adding an IMU would be a logical next step, especially if you are adding an attack mode. The IMU can measure its orientation in the environment so could help to balance when in attack mode.
I am soooo interested in your cool project. I would LOVE to make one. If you ever actually create your course I think it would totally be a blast! How do we find out about your course?
I think your shaking leg problem is due to the PID on servomotor like the proportional or derivate term
good project congrats
Hello Aecert, you told us, you where inspired mainly by the MX-Phoenix, which is Zenta's Hexapod projekt. That is my favorit too. It looks really good and moves very soft and fluid. Obviously your main body and the tibia are influenced by the Phoenix. That just looks cool. There are some videos of the Phoenix, where the bot climbs over a big Rock or walks up and down stairs. Zeta has a little switch in every toe, to detect, when a leg touches ground. I saw, that in the list of your STL-Files was something like Tibia Switch Mount, Switch Foot and Switch Stopper. In your video it also looks like there are at least the pre-conditions to add switches like zenta's. I guess, you have at least planned to implement such switches.
I experimented myself with a haxapod in the last years, but my skills in programming are very limited. Till now i was not able to teach my robot, that the world is NOT an absolute flat ground. That a leg can touch the ground everywhere above or beneath the projekted Baseline and, despite it, walk properly. So i planned to start over completely new with a Hexabot. Than i stumbled over your video and i am fascinated. I'm happy about the chance to learn from you and your great projekt!
My question is now: do you have plans to implement someting like a climb gait, for terrain adaption and climbing? That would be really great!
I am planning on adding the ability for it to walk on uneven terrain!! I'm pretty sure I'll be able to do it to, but I haven't attempted yet. There are switches in the feet, but I haven't even wired them up yet lol.
It would most likely be its own mode where one leg moves at a time yeah
Hi. How do you power the servos? Are you powering them straight from battery or by DC converters? I'm building similar hexapod and I am planning on using 2s li-ion pack, but when fully charged it will be 8.4V and my servos are rated for 7.4V, so I am worried about burning them.
Hi. Yes I am building this Hexapod But with Carbon Fibre plate CNC cut to size to save weight. The PCB arrived today so looking @ then you have made provision for a Current sensor as well. What current sensor are you using ?? . Nice touch. The only thing I can see that would make it a little better is to have the bottom layer of the PCB grounded. Similar to the middle layer. As "Lord_xeel said below. I am using the Arduino GIGA as it was a free sample. A most excellent project with a working Robot that looks the part. Well done you. Have spare PCB (UK only)
if you change the PCB from 2 layers to 4 layers you can fix the power problem by using layer 2 and 3 for power this also afects the EMC from the PCB
You aren't the first to recommend this! I wish i considered 4 layers sooner because you are exactly right, it makes everything so much easier.
Awesome work, I've been tinkering with a hexapod for a couple weeks. I'm trying to do small scale with micro servos but it's just so jittery, might have to upgrade as well. Where do you buy your servos from?
Thanks! Oh man so they jitter pretty badly? I want to try to make a small one as well. I got mine from aliexpress.
This is awesome. Would it work with smaller servos? This is honestly a pretty big machine. I feel like it would be a lot more accessible if it was scaled down. 18 full size servos alone costs like $300, before you even start printing or making custom PCBs.
If that is something that you think people would be interested in, I'd be happy to help you with CAD files.
Thanks! Ill have to see, but if i could get it working with mg90s that would be amazing. Yeah, its more like 350. Fortunately the electronics are quite cheap.
I may just take you up on that offer, being made in blender is not ideal if im being honest 😅
@@AecertRobotics I’m about to make a hexapod using mg90S servos. They have a lot less torque than the servos you are using, only around 2 kgcm so the robot would have to be a lot smaller and lighter.
You should add some heatshrink on the ends of the sleeves to stop them from fraying. The stuff with the glue inside will hold up better to motion.
Does your PCB software not have a design rules check (DRC)? DRC would've caught the floating ground.
Ahhh thats a really good idea. I have a heat gun too...
I'm using EasyEDA and im pretty sure it does have that, but Idk, im still a beginner with pcb designing but i know just enough to be dangerous lol
This looks insane, you better sell this as a kit or product once its "done" 😅
That is the plan! 🙂
Please do a tutorial
that's so cool! I am creeped out by spiders so idk... make one big enough to sit on lol. wonder what motors you would need for that
😂
You could do it! But you would need a lotttt more torque, which means very expensive motors.
please provide as a lecture how you build please 😅. I am very x 4 times interested, love from India
do you have a release date on the kit/ course, I am dying to make this project
I definitely dont lol, my current goal is to finish the design which should be done this month. Then ill begin development of the course as well as getting all the details of the kit figured out. I also will most likely be launching a kickstarter to help fund it all, but im not sure about that just yet.
Quick questions, what are you using at the tip of your legs to create some sort of grip to the ground?
I'm using these! www.amazon.com/gp/product/B08R88ZV4P/ref=ppx_yo_dt_b_search_asin_title?ie=UTF8&th=1
@@AecertRobotics Thanks for replying, I really appreciate it!
Love how you're doing it
And please make the 3d files and code open source (I would sell the electronics alone and a pack with the electronics and the course)
This is gonna be a big channel for sure
Thanks :)
That is literally the plan! I just dont want to release the code and stls until they are finished.
I hope so man, we will see
Beautiful work. Will you share your work because I would like to build this hexapod ? Thanks
Thank you :) Yes! I plan on sharing for free the code, stls, and build instructions.
I am currently working on a project similar to this for my end-of-year project at school using STM32. Have you shared the stls anywhere?
im working too on the same project he didn't share yet I hope he shares the design file as soon as possible.
Email me and I'll send you the files! Just make sure to credit me if you use them please
Well done!
I was planning to do something like that but instead of arduino i was thinking about raspberry pie or NVIDIA jetson nano to implement AI features such as tracking, navigating and autoRouting in that!
Or maybe a processor can do AI things and communicate to arduino to move accordingly!
It was just a plan for me😬until today. now that i see your work i feel so motivated to do that.
waiting to see code and CAD of this project and then start to add AI and continue your project.
By the way, do have any name for this project in mind?
Yessss, i really hope people take this platform and add to it!
That is a great question. I don't currently have a name, but im open to ideas 😄
@@AecertRobotics can’t wait to work on the project!
Hope to start it soon and do it
I don’t have any name in mind, too. 😅
STRAP A DRONE TO THE TOP, YOU HAVE TO REMAKE THE MAD LAB INSDUSTRIES' HEXACOPTERPOD, PLEASE YOU HAVE TO
how much servo's a leg?
3 servos per leg, 6 legs, so 18 servos in total
The real update is the cat bed, and a brand new differently colored cat!
😂😂😂
Pleaseeee wideo or shematic 3D printer and shematic PCB or link
I will be releasing them once they are finished!
Probably someone me tioned this already but would it be an idea to thread the wires through the legs ? In the end that would be a much more clean solution. And i’m willing to help :)
Much easier said than done! 3 main issues:
- the servos get in the way
- when the leg moves the tibia and femur wires get pulled, so there always needs to be slack
- id have to redesign and reprint the entire leg
Name him something
I knowww, "Aecert's hexapod" doesnt really roll off the tongue... How about "Ace"?
@@AecertRobotics noice.
looking at the range of freedom when unpowered you just missed the codding part and failled completly at the sole point of existence of this design
those for the rule of cool of the spider style
looking cool by wasting a nice work if it bring you a bunch of money can be ok
Video explain very bad bro please send me code and digram please send me 👎
Lol this isnt a tutorial. Dont worry I will be releasing the code and stls I promise.
This is more of a showcase than a lesson. There are plenty of resources out there if you look. This video isn’t even about the code at all, it is literally just talking about a few changes.
What is it with people just demanding code and cad files? Do they just want to copy it? They should learn how to do research themselves.