In Fall 2018 within EE444, our project requirements include the following: achieve a height clearance of 20mm, maintain both gear systems 180° out of phase, support remote control via Bluetooth from the Arxterra App, and accomplish autonomous maze solving. Meanwhile, we set aside a project goal to improve the last generation of Hexy by creating an elegant solution to reduce the amount of play around the femurs and joints. To achieve this goal we needed to create a new guiding system as well as a new joint system that connected the femur to the gear all while maintaining full range for leg movement.
Redesigning the Components
When approaching the last generation of Hexy we started with identifying the areas that are in need of improvement. The joint system that connects the gears to the femurs to allow for full range movement didn’t provide the desired rigidity, allowing the legs a considerable amount of room to jostle in place. The femur guiding system had established a method for guiding the femurs in order for the bot to maintain a three-point stance, but it introduced unnecessary friction to the femur movement due to the lack of weight distribution. Lastly, the chosen motors and how they were mounted introduced wasted space and surplus hardware that would be cut down in the redesign of the Hexy chassis.
Gears and Femur Joints
Femur Guiding System
[Include what electronic components were chosen/used in the process]