Hex3 - An OpenSource Hexapod platform

Full documentation is available at https://manufacturedmotion.github.io/Hex/Hex3/#overview
Full project files, including history, is available at https://github.com/manufacturedmotion/hex

Hex3 is the third generation of our Hexapod platform. Highlights of this generation:

• 10kg (~22lb) payload capacity (note: momentary payload capacity may be higher, such as in the images. But your mileage may vary.).

• Drivable via Xbox controller

• Fully 3D printed body and legs

• 18 degrees-of-freedom (DOF) design with 3 DOF per leg

• Custom low-cost servos made using DC gear motors and AS5600 magnetic encoders (as opposed to the hobby-servos that were prone to overheating on Hex2.)

• Spring loaded toe with position sensor to measure force applied by each leg

• Three-level control to follow user commands:

  • High level whole hexapod inverse kinematics

  • Mid level inverse kinematics for each leg

  • Low level control based on cascaded position-velocity controller with feedforward for each axis

• Custom PCBs for Pi and leg connectivity

• Standard hardware holding the Hexapod together

• Modular compute architecture

• Deterministic real time compute provided by Xiao RP2350s

• ROS2 on Raspberry Pi 5 to allow easy build in to existing robotic development platforms

Price point: ~$2,000 USD.

Useful docs:

• Assembly Instructions: https://manufacturedmotion.github.io/Hex/Hex3/assembly-instructions/

• 3D printing guidelines: https://manufacturedmotion.github.io/Hex/Hex3/3d-printing/#print-recommendations

• Bill-of-Materials: https://docs.google.com/spreadsheets/d/1jHR1j3dNIgRCcadYxqtaftRhhn8tEC1XY8og_EQwXEU/edit?usp=sharing