I love this spider-like walking mechanism, spotted on the MAKE Flickr pool. Here are some of the deets:
The walking action uses the Klann linkage, specifically, configuration E006. The motors are Solarbotics GM17, from Technobots, which will generate a decent torque from 5v upwards, and a nice scurry at 12v. Pivot bolts are all M3x10 and x14 button head allens (MF-BH34S et al) & nylocs (MF-NN03S), from http://modelfixings.co.uk. Plus a 44mm bit of M3 studding. The gears are held onto the shafts with No.2 (2.2mm) by 6.4mm and 9.5mm self-tappers (MF-ST09). Motor mounts are M2.5×20. Gears are mod 1.5, 30mm pitch circle, 14.5 degree pressure angle. They’re designed with CamBam’s cog tool and cut from 6mm acetal sheet. Acetal is from http://www.directplasticsonline.co.uk/ The sheet thickness is a bit variable, so if you use our CamBam files make sure you adjust the cut depths for the sheet you have. This project was inspired by this cute little thing.
8 thoughts on “Spiderbot walking mechanism”
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really a bit more crab-like, no? or camel gait. very nice nonetheleastbitless
Yeah, true enough, altho this type of walking machine is frequently called a “spider walker” or “spiderbot,” altho I agree, it’s really more of a crab gate. And they never have eight legs.
It really depends where the head goes, in my mind.
This rig is only half the finished machine. I need two assemblies like this, one on each side, giving a roughly square footprint.
If I put the head in between the two assemblies, looking in the direction of travel, it’s a spider.
If I put the head on the side, looking across the direction of travel, it’s a crab.
There are some still photos of the robot leg mechanism that I took at Dorkbot Dristol, in my Flickr set:
http://www.flickr.com/photos/anachrocomputer/sets/72157623690717790/
They also show one of the acrylic pieces “as cut” by Richard’s CNC milling machine.