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5.0 KiB

Mechanism

Body

Bill of Materials

Servo - MG92B

Servo is the key component. I use TowerPro MG92B. It has metal gear (important!). An hexapod requires 18 of them.

The dimension of 3d printed part is highly depended on servo's dimension.
Modification is required if you want to use other alternative servo.

TowerPro MG92B can be found on Ebay seller servohorns959, which is listed on TowerPro official website ([Link] (http://www.towerpro.com.tw/about-us-2/)).
I also got mime servo from him.

3D-Printed Parts

Body x 1

Filename Thumbnail Required
body_top body_top 1
body_bottom body_bottom 1
body_center body_center 1
body_side_wall body_side_wall 2
body_back_wall body_back_wall 1

Leg x 6

Filename Thumbnail Required
thigh_top thigh_top 1 (x6)
thigh_bottom thigh_bottom 1 (x6)
joint_cross joint_cross 1 (x6)
joint_top joint_top 2 (x6)
joint_bottom joint_bottom 2 (x6)
leg_top leg_top 1 (x6)
let_bottom leg_bottom 1 (x6)
foot_top foot_top 1 (x6)
foot_bottom foot_bottom 1 (x6)
foot_ground foot_ground 1 (x6)
foot_tip foot_tip 1 (x6)

Others

Name Spec Thumbnail Required Note
Screw M2 6mm 6mm 54 Servo Arm: 1 x 18
Joint: 4 x 6
Thigh: 2 x 6
Screw M2 10mm 10mm 24 Thigh: 1 x 6
Pin lock: 1 x 18
Screw M2 30mm 30mm 36 Servo: 2 x 18
Nuts M2 6mm 36 Servo: 2 x 18
Pin (304) M4 6mm pin 18 Servo: 1 x 18

Leg Assemble

LegAssemble

Leg Assemble Instruction

Leg assembly instruction video https://youtu.be/oaAE5fC09KQ is also available.

Preparation

For one leg, you will need 3 MG92B servo and below printed parts

Filename Thumbnail Required
thigh_top thigh_top 1
thigh_bottom thigh_bottom 1
joint_cross joint_cross 1
joint_top joint_top 2
joint_bottom joint_bottom 2
leg_top leg_top 1
let_bottom leg_bottom 1
foot_top foot_top 1
foot_bottom foot_bottom 1
foot_ground foot_ground 1
foot_tip foot_tip 1
Step 1

LegAssemble1

Combine thigh_top, MG92B and thigh_bottom, use M2x30mm screw and nut to secure them together.

Step 2

LegAssemble2

Grab one joint_cross, joint_top and joint_bottom and combine them

Step 3

LegAssemble3

First put 2 x MG92B, leg_top and leg_bottom together with M2x30mm screw and nut. Then attach joint_top and joint_bottom altogether

Step 4

LegAssemble4

Grab foot_top, foot_bottom and foot_ground (and foot_top) and assemble them.

Finish!

LegAssemble5

Great, you got 1 leg done, 5 more to go :)

Leg assembly instruction video https://youtu.be/oaAE5fC09KQ is also available.

Note. Total 6 Legs are required.