Hexapod Description

On the basic stamp there are four programs. The first program is for accessing the other three and changing some parameters for the autonomous rover program. The second program runs the hexapod as an autonomous rover that uses its four sensors to detect objects and avoid them. The third program is a set routine for it to walk and turn and strike poses. The fourth program is used to take inputs from the remote control and act on them.

Problems in Development of Robot

As more sensors and the kicker were added to the next step board it could no longer power everything so other power sources needed to be used. The sensors were then powered through the receiver and a three volt power source was added to power the kicking motor.

Parts List

-Plastic body parts
-12, standard servos
-2, SSC Mini servo control boards
-Next Step board
-Basic stamp 2SX
-Serial LCD module
-RC receiver (7 channel)
-RC transmitter (4 channel)
-Worm gear box and motor
-Belts for attaching kicker to motor
-12, #4 * 3/8" screws
-32, #4 * 1/2" screws
-24, 4 -40 * 1" screws
-24, 4 -40 * 5/8" screws
-24, 4 -40 * 1/4" nuts
-30, 4 -40 * 1/4" lock nuts
-48, nylon washers
-10, 2.81" gray plastic tubing
-12, ball link sockets
-6, 2-56 blind nuts
-6, 1/16" metal nuts
-6, 2-56 ball links
-6, 1/16" ball links
-5.5" 2-56 threaded rod

Building Instructions (Mechanical)

1. Take inventory to make sure you have all pieces needed and that the plastic parts are cut properly with the correct holes drilled in them.
2. • Remove from 6 of the servo boxes the round servo arms.
   • Take the top, main body piece (the one with the large holes in each of its six arms) and screw a #4 * 3/8" screw into each of the two smaller holes on each leg so only the tip comes out the other side.
   • Now push the servo arm up to the tips of the screws that you just screwed in as to mark on the servo arm where you need to drill the holes so you can screw the screws into the servo arm.
   • Next drill the holes in the servo arms with a 5/64" drill bit.
   • Finally screw on the servo arms so as the servo will eventually be connected on the opposite side of the main body piece as the heads of the screws
3. Leg Assembly
   • First attach the lower servo threw the large rectangular hole with 3, 4 -40 * 5/8" screws and 3, 4 -40 1/4" nuts.
   • Attach the second servo by first attaching 2 of the small square pieces to the servo with the screws that came with the servo.
   • Now using 2, #4 * 1/2" screws mount the second servo.
   • Next using 8 nylon washers, 4, 4 -40 * 1" screws, 4, 4 -40 * 1/4" lock nuts, and the five plastic leg pieces assemble the leg.
   • Tighten / loosen the leg screws so as that it is able to move easily but not so loose that it is wobbly.
   • Now for the bottom mount piece, attach 1, 4 -40 * 5/8" screw through the central hole and tighten on with a 4 -40 * 1/4" nut. Tighten down firmly.
   • Attach bottom piece to main leg frame using 2 screws that came with the servos.
   • Attach 2-56 blind nut to hole in top long leg piece with 2-56 ball link on other side.
   • Attach the 1/16" ball link to one of the inner most holes on the six legged servo arm using a 1/16" metal nuts.
   • Now attach the servo arm to the bottom servo.
   • Cut threaded rod to length of about 1.25" and thread a ball link socket onto each end. Attack to ball links on leg.
   • Repeat these steps twice than mirror it for the other side three times.
4. Using the gray plastic tubing and spacers attach the top and bottom main body plates with the servos between.

Electrical Assembly

The hexapods wiring of its inputs and outputs is described at the start of its program in comments. The rest of the wiring is just preference on how you want to deliver power to all the components of the hexapod.

Matthew's hexapod: view from top:

A kicker in the front for playing soccer:

Matthew's hexapod: view from side

Peter Boekelheide also made a hexapod.
Peter's hexapod: view from side:

Peter's hexapod close up:

Peter's hexapod: