Posted: Fri Jun 06, 2008 8:14 am Post subject: CNC hexapod cuts its first material!
I haven't posted anything about my CNC hexapod project here before, but if you wish to see the origins of this project you can view them on my forum here: CNC hexapod
Ok, so its only polystyrene, but its a start
A couple of improvements were made to the router since my last post, most significantly I had a colleague make me up an dremel colet adaptor to fit directly onto the motor shaft, much better than my brass grub screw style colet.
For these two videos I'm using a 1/16" two flute slot cutter, the router is running at approx 35,000 Rpm, the additional battery on the to of the hex is a 12V NiMh 4500mah pack just to run the router. DXF files are loaded in to artcam where G-code tool paths are created. Due to the 10mm thickness of the poly and the cutter only being 6mm long, I chose to do two passes on the workpiece, this also shows that although the resolution is low, repeatability is good enough for multiple passes. Material is held down by the weight of the hexapod, which is current;y 4.3Kg with the router and additional battery pack.
You may notice in the picture of the poly femur with the hole left in the poly, the hole has a cleaner cut edge than the cut piece. This is due to the fact that foam and poly cuts better in a reverse direction, however, I forgot and generated the tool paths for a normal cut direction.
My second attempt at the femur shape, I increased the size by 20% and reverse cut the piece.. much better!
I had a go at 3D profiling today in high density foam. I have a few issues to sort out, mainly with my control software not having a puase or for that matter a stop button .. any who, I fed a 3D stl file into artcam and ran a couple of passes through the hexapod to get this:
I admit its not great, but you can kind of make out the eyes, nose and mouth.. kind of. The large 1/8" scar on the face was caused by operator error!
I will post a video of this process some time after the weekend, and try another test next week.
Joined: 06 Aug 2006 Posts: 232 Location: Hampshire, UK
Posted: Fri Jun 06, 2008 6:04 pm Post subject:
Well done Matt. Very inspiring work.
Once again you have challenged the boundaries of what we think humanoid/hexapod robots can achieve with the current servo technology, and smashed through those boundaries.
It demonstrates what fantastic level of control and accuracy you have over your robot. I have trouble controlling the 2 legs on my humanoid, and am always amazed at how well you orchestrate all six legs on your robot.
I made a few improvements to the software that streams the data to the hexapod.. including a stop button! The cutter was the same, 1/8 ball nose. After a roughing cut, I did a raster pass with 1mm step, and a second raster pass in the opposite direction with 0.8mm step.
I could use a smaller ball nose cutter to get a finer finish, but I think I'm approaching the limitations of the robots resolution.
I will edit the video and upload when I have time.
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