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 function as yet unknown
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 requirement.
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 min 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 liner 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.
Inital 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