(Yes the video is speed up! It is not your imagination)
So, we have been tossing around the idea for a while now of trying to get a Quadcopter to mate with a Hexapod and produce us a mechanical offspring that could walk and fly. So when we came across the opportunity to get a PhantomX Hexapod kit from our friends over at Trossen Robotics we jumped at the chance. Thanks again to the guys over at Trossen for the Kit, and your assistance.
Our first attempt at getting a Quadcopter that could walk involved locking the two machines in a closet for a few days in hopes nature would take its course. When it became apparent this approach wasn’t going to work we knew we had to intervene.
We knew right away that the Hexapod needed to be lighter, a lot lighter. So we opted to make a carbon fiber frame and legs for it. We designed up a frame, and used some spare G10 we had lying around to cut a test frame (Its WAY cheaper the Carbon fiber if you make a mistake). After the test frame was cut, and the Hexapod assembled (a long tedious process involving lots of tiny Dynamixel screws and nuts), programmed, tested (A very fun process), and disassembled again we cut ourselves a fancy and lightweight carbon fiber version.
Switching to Carbon Fiber turned out to be a very good decision, not only did it save us a ton of weight over the original ABS plates that come with the kit, but it also looks super cool. Even though we...Continue Reading
Posted by MadLab |
Oct 09, 2012 @ 08:59 PM | 2,496 Views
We have been working with the Crius AIO Pro board and the APM Mission Planner while doing some FPV flights and videos. In the process of our work we decided we needed to come up with a good Antenna Tracking solution so we could worry a little bit less about losing connection with our video transmitter while in flight.
After some careful thought and research we decided the Antenna tracking system would need to have the following requirements.
360 degree pan rotation.
At least 40 degree downward tilt, and 90 degree upward tilt
Mountable on a Tripod
Have its own power supply
Be compatible with the APM Mission Planner
Capable of switching antenna plates to support different setups
Tilt upgradable to dual servos
The pan features a gear box with 7:1 reduction in order to achieve a smooth 360 degrees of rotation on the pan, and be able to support enough weight for all the antennas and anything else we want to add. The tilt uses a standard metal gear 15kg servo that is mounted in side the tilt panels.
After some time of researching the internet and messing around with APM we got the antenna tracking system to work pretty well. Below are some pictures of the system itself. We will hopefully get some videos of it in action and up tomorrow weather providing.
Anything you think we should add to make it more compatible or upgradable? let us know.