Final Project
My final project idea is to build a hexapod or Stewart platform.
Hexapod / Stewart Platform
Develop a hexapod platform, starting with a small-scale version using servos, with the long-term goal of creating a larger-scale version with function yet to be determined.
Use Cases
Driving or Flight Simulator Rig.
Building a low-profile rig that could sit under an existing stationary sim rig would be interesting.
Challenges for this would be platform weight requirements.
Tapping into the driving or flight sim to get feedback on where the hexapod should be – bumps, g-force simulation etc.
Multi-axis 3D Print Platform.
Modify an existing printer to add multi-axis print capability such as delta WASP printer or an Ultimaker-type printer – I don't think it would work well on a bed slinger.
Steady Bench/Table.
The intention with this is to put the 3D printer in the back of the mobile technology van to have the capability to print on the road – I want to be able to keep the printer steady while on the move.
I need to get my model printed for Fab Academy – as usual, last-minute CAD modelling – 1:30 hr print – 1:30 hours' drive to the FabLab – going to have to print and drive.
Considerations
Size of hexapod – let's aim to hold an Ultimaker 2+ (can also test with Prusa i3 Mk3)
Speed requirement of linear actuator and load capability. (Will I build the linear actuators with stepper motors or get off-the-shelf parts? Further research required – I have stepper motors from 4-5 Makerbot Replicator 2 printers that I could cannibalise for parts)
Spiral Development
Sketch of the idea –
CAD model –
Small-scale servo model –
Specify the linear actuator requirements
Design larger-scale platform –
Build table in back of the van to hold the part.
Start with the sketch
and move on to a servo model that we can use to test code and the principle on a small scale.
Then scale up to larger platform.
Initial CAD Model Using Rhino and Grasshopper
Existing Hexapod Developemnt
I found some links to existing works – I need to identify which of these I can use as the basis for this project.
NicHub Stewart-Platform-Esp32 Git Hub
video and git hublink for motion tracking hexapod code in python
Yeok-c Stewart_Py YouTube
Yok-c Stewart_Py Git Hub
Week 3 Final Project Research
Useful Links this week.
Complete Guide to PCA9685 16 Channel Servo Controller for Arduino with Code Version 5 (V1)
Week 4 Final Project Research
Not much progress on the Final Project this week...
Week 5 Final Project Research
In the interest of spiral development, I'll be making a small servo version first - I've looked at the various projects out there and will be basing my initial design on Yeok-c's Stewart platform simulator. However, I hope to make some additions and will not be using his motion capture. Link to Git repo below.
Yeok-c Stewart_Platform Motion Simulator GitHub
I've also found a few other links that may be useful for the project.
Week 6 Final Project Research
I've been working on the servo version of the hexapod this week.
Week 7 Final Project Research
I've been reading up about inverse kinematics and how to calculate the angles of the servos to move the hexapod.
Week 8 Final Project Research
I've been working on the servo version of the hexapod this week.
Week 9 Final Project Research
Been working on the CAD design of the small hexapod.
Week 10 Final Project Research
Found this link this week: Dynamical Stabilisation of a Plane Using a Gough-Stewart Platform
Week 11 Final Project Research
So my question this week after the networking session is: should I use stepper motors for the full-size version and have a controller for each stepper controlled with an ATtiny412?
If that was the case, each linear actuator would have its own controller that would then communicate.
Week 12 Final Project Research
I've been working on the CAD design of the small hexapod.
Mid-term Review
List the tasks to be completed, make a schedule for doing them, meet with your local and global instructors to review these and your weekly assignments.
Specify the power supply for the hexapod - I leveraged ChatGPT to help me with this. Chat with prompts below -
Spiral development - image to add
Week 13 Final Project Research
Prototype parts of the mini hexapod
3D print the parts
3D print the parts
