So I was not planning on calibrating all of the legs until I have my Raspberry Pi code all running great – but this thing so just too much fun to play with so I went ahead and done the calibrations. Whilst I was there I also cleaned up the wiring a great deal.

So all in all it is running absolutely amazing now so I thought I would share this quick update.

–Chris

So I finally finished printing, assembling and programming my fully 3D printed hexapod robot. It all came together quite nicely, I am however re-printing the tibias to be 160mm instead of 100mm as they are now. In my initial design I envisioned having horizontal femurs and vertical tibias to give the robot much more of a “robotic” look, as opposed to the more common inset/spider kind of aesthetics that lots of other hexapods go for. So this meant having tibias at around the same length as the femur. It all runs great however I am going to opt for longer tibias – I have decided that I like the insect look better and longer tibias can also give me a longer stride so there will be more versatility with walking gaits.

Once I smooth out the design and maybe re-design the chassis to give a bit more structural integrity; along with some more thought out mounting space for the battery (zero thought was given to that at this point); I will be posting the full build instructions and 3D models both here and on thingiverse, so stay tuned for that!

— Chris

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 This is my DELTA robot, the goal of this project is to build a DELTA robot in which all parts may be 3D printed. There is no clear end to this project – and is never likely to be one. This DELTA robot serves as a test platform to experiment with different 3D printable parts and controller designs.

Currently, the project is operational, all parts have bfeen printed and assembled. The main controller is an Atmel ATMEGA328P micro controller which interfaces
via I²C with a PCA9685 PWM controller to set servo positions. Positional data is sent to the controller via a BC417 bluetooth module.

A Windows based control program has been written in C++/CLI.

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