Week 11 (July 26 – August 1)
This week we focused on the 4-legged configuration. This configuration does not seem to have the same stability issues as the 3 legged configurations. Due to the lower complexity and fewer issues, we decide to focus on the 4-legged configuration first. We also plan to fabricate a universal platform that can be used across all our configurations.
We received the universal ball joints we ordered a few weeks back and were met with a pleasant surprise. The joints are able to be adjusted such that one end can act as a rotational joint. This means we can use the same joints for the hexapod as well as the tripod.
Development of the application has progressed and we now have a live input mode which was not possible in the python command-line program. The user can now input values the hexapod would respond in real-time. Further optimization is needed to reduce the latency though.
Universal joint + rod
Quadrapod base adapters
Quadrapod mounting configuration
Universal joint that can act as rotational joint
Live input demonstration