Office Supplies Hexapod

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OSH Complete.jpg

There are several projects that get discussed in a hackerspace but never seem to get built. One such project is the custom built HEXAPOD. The latest YouTube video plays and visions of HEXAPODs dance in someone's head. The project is discussed and talk of laser cutters and cnc mills dominate the reasons why it hasn't been built. The Director of Legal Evil Emeritus, as he want to do, challenges the idea of laser cutters and cnc mills as a requirement for a custom HEXAPOD. A HEXPOD of OFFICE SUPPLIES is within the reach of anyone at the space. And to prove his point he begins the build.

Started Saturday at noon and completed Sunday at 7:30 pm, here is the build (Plenty of sleep, no all nighter).

Office Supplies

What qualifies as office supplies can be subjective, but nothing used here would stretch the definition.

OSH Office Supplies.jpg

Four Tongue Depressors (Doctors Office)

Two Popsicle Sticks (Who doesn't have a few laying around)

Two Binder Clips

Six Zip Ties

Six Pencil Erasers

Rubber Band

Super Glue (Gel)

One Small Yellow Rubber Band (not pictured)

Color Matching Office Supplies was just a bonus.

Electronics

Standard Hacker Supplies

OSH Electronics.jpg

Pro Mini Arduino 328P 5V

Five Header Pin Strips

Four CdS Cells

Four Resistors 56K

Battery Pack 4AA (not shown)

Different Color Header Pins was just handy.

Servos

Servos were needed.

OSH Servo.jpg

Six MG90S Micro Servos

No color coordinating here.

Basic Frame

The frame will consist of the tongue depressors held together by the clips, rubber band and a little super glue at the junctures.

OSH Basic Frame Mockup.jpg

Servos On A Stick

This build requires two kinds of "servos on a stick" types.

Type 1

OSH Type1 Servo1.jpg

OSH Type1 Servo2.jpg

A total of two Type 1 are made.

OSH Type1 Servo3.jpg

Type 2

OSH Type2 Servo1.jpg

OSH Type2 Servo2.jpg

A single Type 1 is made.

Arduino

OSH Arduino Soldered.jpg

The pictured Arduino has pins soldered in for programming via FDTI.

Six sets of three pins are soldered into the PWM pins (3,5,6,9,10 and11).

These sets are soldered connect the matching position of the outside pins. The connection forms two "u" shapes for power and ground. This wiring allows the servos to be plugged directly into the pin sets of three. The power is supplied from the battery pack directly via the RAW power pin on the Arduino. The ground is common.

Four sets of three pins are soldered into analog pins (A0, A1, A2 and A3).

These sets are soldered to accommodate a Cds Cell and resistor for input.

Sensor

A simple CdS Cell is wired in series with a resistor. The center tap of the items is used as input to the analog pins on the Arduino.

OSH CdS Cell Sensor.jpg

OSH CdS Cell Wiring.jpg

Layout

This is the general layout for the assembly. Of note is that the Arduino is reoriented in the final assembly.

OSH Hexpod Layout.jpg

Feet

The hexapod needs feet for traction.

OSH Feet Parts.jpg

Three items are used.

Popsicle Stick

Servo Horn

Pencil Eraser

The popsicle stick and servo horn are put into the eraser. And the popsicle stick is marked for cutting.

OSH Feet Build1.jpg

Once cut it is attached to the servo.

OSH Attached Feet.jpg

Finished Product

OSH Complete.jpg

All That is left is to make it walk.

Crude Code

*Office Supplies HEXAPOD Code

Movies

First Steps

Light Test

Other Projects