Saturday, June 8, 2013

Parasolid model for hexapod


I've made a Parasolid model as promised. It seems to open correctly in SolidEdge and SolidWorks. The model is pretty exact, though it might be different from actual machine in a few small details. Hope it can be useful for someone.

Download Parasolid model for complete hexapod assembly

Some general notes about the hexapod:
1. The control is generally easier than the mechanics (soldering wires and pushing buttons is always easier than cutting steel).
2. The machine accuracy might prove very low without kinematic calibration.
3. There are different methods for calbration, all of them require some equipment.
4. The calibration success depends much on joints precision.
5. If I had to build the hexapod again with the same actuators, I'd try to make the frame smaller to increase stiffness.

UPD 2017: I also made two STEP models, they are not completely correct though.
STEP214
STEP203
Posted by PKM at 1:38 AM
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28 comments:

  1. HuevosgrandesSeptember 25, 2013 at 1:12 AM

    Where did you get the kinematics control from? Is their a web page on this project? We are trying to build a model of a hexipod in openSCAD, but I'm not well versed in the theory.
    Cheers..

    ReplyDelete
    Replies
    1. PKMSeptember 25, 2013 at 1:43 AM

      Hi, I used LinuxCNC software, linuxcnc.org
      See other articles on my blog about the hexapod

      Delete
  2. andywMay 8, 2014 at 8:11 PM

    what are the outer dimensions of the machine?
    and what is the work-envelope size?
    is there some software or guide that can be used for designing a hexapod?

    ReplyDelete
    Replies
    1. PKMJuly 20, 2014 at 9:34 PM

      You can find the dimensions from the model.
      The workspace is pretty large dia. 500 x 300 iirc. But the accuracy is worse when you move from the central position.

      I probably have seen such software on the net, but can't remember where. Anyways I did the calculations myself.

      Delete
  3. UnknownJuly 20, 2014 at 9:27 PM

    Hi PKM,

    I am really inspired by your work, this machine is awesome. I opened your Parasolid file in Solidworks and it works great. I was just wondering if you had a Bill of Materials for the electronics and control side for this machine. Building the machine is not an issue for me its more the electronics I am not really familiar with. Any information on the servo's, ballscrews, etc would be greatly appreciated. Thank you.

    ReplyDelete
    Replies
    1. PKMJuly 20, 2014 at 9:43 PM

      I don't have a BOM for the machine.
      The electronics can be very different, actually.
      LPT control is the simplest, though worse quality.
      I'd use something like MESA 5i25 now.

      25x10mm ballscrews 1200mm long, needle bearings for upper joints, 32009 bearings for nut rotation, 26-5M-15 timing pulleys and belts.

      Servos... anything 400-600W is OK. Analog or step/dir interface (for analog you'd need Mesa 5i25 + 7i77 kit).
      If you're really going to build something, I can share more details.

      Delete
    2. UnknownJuly 22, 2014 at 6:11 PM

      Yeah I would really appreciate that if you don't mind sharing more details. I have full access to a 3-axis vertical machining center so all the components is not an issue for me. I just have no idea where to start when it comes to the controls and electronics side.

      Thanks

      Delete
  4. ViktorAugust 21, 2014 at 10:45 PM

    How much will cost this machine?
    Regards

    ReplyDelete
    Replies
    1. PKMNovember 12, 2014 at 12:27 PM

      Depends on the components quality. Starting from $10K, I guess.

      Delete
  5. UnknownOctober 22, 2015 at 5:13 PM

    hey... Im one of your fans ...
    Im really in love with delta robotica, can you guide me in how to start

    ReplyDelete
    Replies
    1. PKMOctober 22, 2015 at 6:45 PM

      Hi, very nice. thanks!
      So you want to build a delta robot?
      Choose actuators based on the robot size and purpose. Then you can figure out mechanics and control.
      Can say more when you share some details.

      Delete
  6. MataOctober 30, 2015 at 4:16 PM

    How can i move the model in solidworks?

    ReplyDelete
    Replies
    1. PKMOctober 30, 2015 at 5:31 PM

      I'm afraid you can't. Parasolid doesn't keep any mates, so you'll have to add all mates before moving it.

      Delete
    2. MataNovember 3, 2015 at 9:43 PM

      can you help for do this?. Thanks!

      Delete
    3. PKMDecember 30, 2015 at 6:40 PM

      I'm afraid, Parasolid model isn't good for mates.

      Delete
  7. MataNovember 3, 2015 at 4:03 AM

    Do you have all the equations of the robot?. I'm gonna do a simulation whit the model in Simulink + OPC + PLC (Allen Bradley) whit sercos module. if you wanna share the material my email is mat.sando at gmail dot com. thanks!
    PD: I can share a video whit the results later!

    ReplyDelete
    Replies
    1. PKMDecember 30, 2015 at 6:06 PM

      Hi!
      I used "Parallel robots" by J.-P. Merlet and other similar books
      You can also fing C++ kinematics code here https://github.com/jepler/linuxcnc-mirror/blob/master/src/emc/kinematics/genhexkins.c

      Delete
  8. UnknownDecember 30, 2015 at 1:18 PM

    Hello, your machine design really cool, I really like, I like DIY, so I wanted to own a small point of the machine, you can provide some help? If you are willing, then

    ReplyDelete
    Replies
    1. PKMDecember 30, 2015 at 6:07 PM

      Hi, I don't see you point.
      Email me pkmcnc (at) gmail (dot) com if you have some questions

      Delete
    2. UnknownDecember 31, 2015 at 11:16 AM

      I'm sorry, I do not know your email address. Can you tell me

      Delete
    3. UnknownDecember 31, 2015 at 11:35 AM

      In fact, I want to be a reduced version of the hexapod, no more than one meter high size, length and width of about 1 m

      Delete
    4. PKMDecember 31, 2015 at 12:59 PM

      My address is pkmcnc (at) gmail (dot) com as I said before.
      It depends on what quality machine you want and what you want it to do.
      I also built a much simpler Stewart platform https://youtu.be/ouyx65C7L-o This probably more suitable for you.

      Delete
    5. UnknownJanuary 1, 2016 at 3:14 PM

      Hello, I received an email yet? My email address is tyzb(at)live(dot)cn

      Delete
  9. UnknownDecember 31, 2015 at 11:38 AM

    But my lack of relevant expertise, including mechanical design and electrical design, so I need your help

    ReplyDelete
  10. Rj MaanSeptember 24, 2017 at 4:54 PM

    This comment has been removed by a blog administrator.

    ReplyDelete
  11. UnknownOctober 21, 2018 at 4:14 PM

    Hello,
    I'm teacher for Industrail Engineering Facuty of Mahidol University / Thailand. I need you to help us for this project.

    ReplyDelete
  12. Salem ShoranJanuary 7, 2020 at 9:16 PM

    Hello,
    I modified your model in Solidwoks, and want to build it for polishing planer surfaces. Could you help me to do that. I can make up your time.If you interested please contact me email m323shoran@gmail.com

    ReplyDelete

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