HEXAPOD ROBO
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This robot is "HEXAPOD" .ITS LIKE A ROBOT THAT HAVE MOVEMENTS OF INSECTS. THIS ROBOT HAVE SIMPLE DESIGN THAT IS MADE MAINLY USING PLASTIC COMPONENTS THIS ROBOT HAVE THE PRINCIPLE OF HEXAPOD BUT ALL THE PHYSICAL DESIGN ,AS WELL AS THE PROGRAMMING FOR TO MAKE THIS ROBOT MOVE ABLE IS TOTLALY DIFFFER FROM THE PROGRAMMING THAT WHICH I OBSERVE THROGH DIGGRENT SITES AND YOUTUBE CHANNEL .ITS SIMPLE TO MADE AND TO TEST.
Required Components
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MATERIALS USED IN HEXAPOD: 1. 30 CM RULER * 4 2. Arduino uno * 1 3.Bluetooth module HC-05 * 1 4. Jumperwire (male to male 10 pice) (male to female 5 pice) (female to female 5 pice) 5. MATRIX board (5*5)cm 6. servo motor sg9 7. powerbank as a power source And ther picture are shown above respectively.
BODY PARTS
THE BODY PART CONSIST OF 6 LEGS WITH 6 LIMBS IN UPPER BODY PART 16 CM RULER IS PLACED IN PARALLEL AND ATTACH
HORIZONTALLY WITH 2 ,9CM RULER .
FOR THE LEG I CUT THE RULER OF 10 CM LONG WHICH HAS SAPE UPPER PART BIG AND COMMING DOWN THIN.AS WE HAVE 18 SERVO MOTOR,WE NEED 18 OUTPUT PIN IN ARDUINO. DUE TO NOT USING OF ANY MULTIPLEXER IC'SIN MAKING THIS ROBOT ,AVAIABLE OF DIGITAL PIN IN ARDUINO UNO IS ONLY 12. SO,I CAME TO A SOLUTION OF MAKING COMMON SERVOS OF LEGS.AS: SERVO 2&3 ARE COMMON IN WIRING, SIMILSRLY 5&6, 8&9, 11&12, 14&15, 17&18
CONNECTION
IN THE ABOVE AS SHOWN ALL 18 MOTORS ARE CONNECTED TO ARDUINO THROUGH 5V AND GND PIN .SIMILARLY BLUETOOTH MODULE IS ALSO POWER UP THROUGH SAME CONNECTION.
AND ALL THE COMMAND TO THE SERVO MOTOR ARE SEND FROM MOBILE THROUGH BLUETOOTH MODULE VIA TX AND RX PIN IN ARDUINO. COMMON SERVOS GETS SAME SIGNAL AT A SAME TIME AND RESPONSE AT SAME TIME. BY WHICH THE MOVEMENT OF THIS ROBOT FOLLOW THE TRIANGLE MOVES FIRST LEGS WITH SERVOS (1,2,3) (13,14,15) AND (7,8,9) AND THEN AFTER SOME DELAY ANOTHER PART OF BODY WHICH CONSIST LEGS WIH SERVOS (16,17,18) (4,5,6) (10,11,12) MOVES.
MOVEMENTS: AND PICTURES
I HAVE GIVEN FORWARD ,ROTATE COMMAND.
ASSAMBLING ALL COMPONENTS
AS SHOWN IN ABOVE FIGURE I MANAGE TO ASSAMLE ALL THE COMPONENTS TOGETHER BY MAKING ALL COMPONENTS AS REQUIRES SHAPE AND SIZE. AS IN ABOVE DIAGRAM SHOWN WE CAN ASSAMBLE ALL 6 LEGS OF ROBOT.
PROGRAMMING ARDUINO AND ANDROID APK
#include <softwareserial.h>
#include <servo.h>
#include <string.h>
SoftwareSerial BT(11, 10); //TX, RX respetively
String voice;
int i;
int state1;
Servo servo1; //1 7
Servo servo2; //16 10
Servo servo3; //2 3
Servo servo4; //5 6
Servo servo5; //8 9
Servo servo6; //11 12
Servo servo7; //14 15
Servo servo8; //17 18
Servo servo9; //4
Servo servo10; //3
void setup()
{
servo1.attach(2);
servo2.attach(3);
servo3.attach(4);
servo4.attach(5);
servo5.attach(6);
servo6.attach(7);
servo7.attach(8);
servo8.attach(9);
servo9.attach(12);
servo10.attach(13);
BT.begin(9600);
Serial.begin(9600);
}
void INITIAL()
{
servo1.write(90);
servo2.write(90);
servo3.write(90);
servo4.write(90);
servo5.write(90);
servo6.write(90);
servo7.write(90);
servo8.write(90);
servo9.write(90);
servo10.write(90);
}
void FORWARD()
{ servo3.write(45); //LEG MOVES UPWARD
servo7.write(135);
servo5.write(45);
delay(300);
servo1.write(75); //LEG MOVES FORWARD
servo10.write(105);
delay(300);
servo3.write(90); //LEG MOVES DOWNWARD
servo7.write(90);
servo5.write(90);
delay(300);
//BODY
servo1.write(90); //BODY MOVES FORWARD AND OPPOSITE LEGS MOVES DOWNWARD
servo10.write(90);
servo2.write(75);
servo9.write(105);
delay(300);
servo6.write(135); //OPPOSIT LEG MOVES UPWARD
servo4.write(45);
servo8.write(135);
delay(300);
servo2.write(105); //OPPOSITE LEG MOVES FORWARD
servo9.write(75);
delay(300);
servo6.write(90); //OPPOSITE LEG MOVES DOWNWARD
servo4.write(90);
servo8.write(90);
delay(300);
//BODY
servo1.write(105); //NOW WHILE BODY MOVES FORWARD LEGS MOVES BACKWARD
servo10.write(75);
servo2.write(90);
servo9.write(90);
delay(300);
//SOLUTION
servo3.write(45); //LEG MOVES UPWARD
servo7.write(135);
servo5.write(45);
delay(300);
servo1.write(90); // LEG MOVES FORWARD
servo10.write(90);
delay(300);
servo3.write(90); //LEG MOVES DOWNWARD
servo7.write(90);
servo5.write(90);
}
void BACKWARD()
{ servo3.write(45); //LEG MOVES UPWARD
servo7.write(135);
servo5.write(45);
delay(350);
servo1.write(105); //LEG MOVES FORWARD
servo10.write(75);
delay(350);
servo3.write(90); //LEG MOVES DOWNWARD
servo7.write(90);
servo5.write(90);
delay(350);
//BODY
servo1.write(90); //BODY MOVES FORWARD AND OPPOSITE LEG MOVES BACKWARD
servo10.write(90);
servo2.write(105);
servo9.write(75);
delay(350);
servo6.write(135); //OPPOSITE LEG MOVES UPWARD
servo4.write(45);
servo8.write(135);
delay(350);
servo2.write(75); //LEG MOVES FORWARD
servo9.write(105);
delay(350);
servo6.write(90); //OPPOSITE LEG MOVES DOWNWARD
servo4.write(90);
servo8.write(90);
delay(350);
//BODY
servo1.write(75); // NOW BODY MOVES FORWARD AND OPPOSITE LEGS MOVES BACKWARD
servo10.write(105);
servo2.write(90);
servo9.write(90);
delay(350);
//SOLUTION
servo3.write(45); //LEG MOVES UPWARD
servo7.write(135);
servo5.write(45);
delay(350);
servo1.write(90); //LEG MOVES FORWARD
servo10.write(90);
delay(350);
servo3.write(90); //LEG MOVES DOWNWARD
servo7.write(90);
servo5.write(90);
}
void RIGHT()
{
servo3.write(45); //LEG MOVES UPWARD
servo7.write(135);
servo5.write(45);
delay(200);
servo1.write(105); //LEG MOVES FORWARD
servo10.write(105);
delay(200);
servo3.write(90); //LEG MOVES DOWNWARD
servo7.write(90);
servo5.write(90);
delay(200);
servo6.write(135); //OPPOSITE LEG MOVES UPWARD SO ROTATING OF ROBO GETS EASY
servo4.write(45);
servo8.write(135);
delay(200);
//BODY
servo1.write(90); //BODY GET ROTATE 1part
servo10.write(90);
servo2.write(105);
servo9.write(105);
delay(200);
servo6.write(90); //OPPOSITE LEG MOVES DOWNWARD
servo4.write(90);
servo8.write(90);
delay(200);
servo3.write(45); //LEG MOVES UPWARD
servo7.write(135);
servo5.write(45);
delay(200);
servo2.write(90);
servo9.write(90);
delay(200);
servo3.write(90); //LEG MOVES UPWARD
servo7.write(90);
servo5.write(90);
}
void LEFT()
{
servo3.write(45); //UPWARD
servo7.write(135);
servo5.write(45);
delay(200);
servo1.write(75); //LEG MOVES FORWARD
servo10.write(75);
delay(200);
servo3.write(90); //LEG MOVES DOWNWARD
servo7.write(90);
servo5.write(90);
delay(200);
servo6.write(135); //OPPOSITE LEG MOVES UPWARD SO ROTATING OF BODY IS EASY
servo4.write(45);
servo8.write(135);
delay(200);
//BODY
servo1.write(90); //BODY ROTATE R1part
servo10.write(90);
servo2.write(75);
servo9.write(75);
delay(200);
servo6.write(90); //OPPOSITE LEG MOVES DOWNWARD
servo4.write(90);
servo8.write(90);
delay(200);
servo3.write(45); //LEG MOVES UPWARD
servo7.write(135);
servo5.write(45);
delay(200);
servo2.write(90);
servo9.write(90);
delay(200);
servo3.write(90); //LEG MOVES UPWARD
servo7.write(90);
servo5.write(90);
}
void FLICKER()
{
servo4.write(30);
delay(1000);
servo9.write(60);
delay(1000);
servo9.write(90);
delay(1000);
servo9.write(120);
delay(1000);
servo9.write(90);
delay(1000);
servo9.write(60);
delay(1000);
servo9.write(90);
delay(1000);
servo4.write(180);
delay(1000);
}
void UPWARD()
{ for(int i=90;i>=20;i--)
{ servo3.write(180-i);
servo5.write(180-i);
servo6.write(i);
servo8.write(i);
delay(50);
}
}
void DOWNWARD()
{ for(int i=90;i>=20;i--)
{
servo3.write(i);
servo4.write(i);
servo5.write(i);
servo6.write(180-i);
servo7.write(180-i);
servo8.write(180-i);
delay(50);
}
}
void FLICK_LEFT()
{ //FLICK LEFT PART
for(int i=0;i<=5;i++)
{
servo6.write(150);
servo8.write(150);
servo2.write(45);
delay(350);
servo2.write(135);
delay(350);
}
INITIAL();
delay(1000);
servo6.write(60);
servo8.write(60);
delay(100);
servo6.write(50);
servo8.write(50);
delay(100);
servo6.write(30);
servo8.write(30);
delay(100);
delay(1000);
}
void FLICK_RIGHT()
{
//FLICK RIGHT PART
for(int i=0;i<=5;i++)
{
servo3.write(30);
servo5.write(30);
servo1.write(135);
delay(350);
servo1.write(45);
delay(350);
}
INITIAL();
delay(1000);
servo3.write(120);
servo5.write(120);
delay(100);
servo3.write(130);
servo5.write(130);
delay(100);
servo3.write(140);
servo5.write(140);
delay(100);
delay(1000);
}
void FK()
{ servo3.write(45);
servo8.write(135);
delay(350);
servo3.write(90);
servo8.write(90);
delay(350);
servo4.write(45);
servo7.write(135);
delay(350);
servo4.write(90);
servo7.write(90);
delay(350);
for(i=0;i<=2;i++)
{ servo5.write(45);
servo6.write(135);
delay(350);
servo5.write(90);
servo6.write(90);
delay(350);
}
}
void SPINTHESPINNER()
{ servo8.write(110);
servo6.write(110);
delay(350);
servo2.write(180);
delay(350);
servo8.write(135);
servo6.write(135);
delay(100);
for(int i=180;i>=90;i--)
{
servo2.write(i);
delay(10);
}
}
void loop()
{
while (BT.available())//Check if there is an available byte to read
{ delay(10); //Delay added to make thing stable
char c = BT.read(); //Conduct a serial read
if (c == '#')
{
break; //Exit the loop when the # is detected after the word
}
voice += c; //Shorthand for voice = voice + c
}
voice.toLowerCase();
if (voice.length() > 0)
{
Serial.println(voice);
if(voice == "initial"||voice=="0"||voice == "*initial")
{
INITIAL();
}
else if(voice == "forward"||voice=="1"||voice == "*forward")
{
FORWARD();
}
else if(voice=="2")
{
FORWARD();
FORWARD();
}
else if(voice=="3")
{
FORWARD();
FORWARD();
FORWARD();
}
else if(voice=="4")
{
FORWARD();
FORWARD();
FORWARD();
FORWARD();
}
else if(voice=="5")
{
FORWARD();
FORWARD();
FORWARD();
FORWARD();
FORWARD();
FORWARD();
}
else if (voice == "backward"||voice=="6"||voice == "*backward")
{
BACKWARD();
}
else if (voice=="7")
{
BACKWARD();
BACKWARD();
}
else if (voice=="8")
{
BACKWARD();
BACKWARD();
BACKWARD();
}
else if (voice=="9")
{
BACKWARD();
BACKWARD();
BACKWARD();
BACKWARD();
}
else if (voice=="10")
{
BACKWARD();
BACKWARD();
BACKWARD();
BACKWARD();
BACKWARD();
BACKWARD();
}
else if (voice=="left"||voice=="11"||voice=="*left")
{
LEFT();
}
else if (voice=="12")
{
LEFT();
LEFT();
LEFT();
}
else if (voice=="13")
{
LEFT();
LEFT();
LEFT();
LEFT();
}
else if (voice=="right"||voice=="14"||voice=="*right")
{
RIGHT();
}
else if (voice=="15")
{
RIGHT();
RIGHT();
RIGHT();
}
else if (voice=="16")
{
RIGHT();
RIGHT();
RIGHT();
RIGHT();
}
else if (voice=="FK"||voice=="29"||voice=="*FK")
{
FK();
}
else if (voice=="spin"||voice=="31"||voice=="*spin")
{
SPINTHESPINNER();
}
else if (voice=="flick left"||voice=="30"||voice=="*flick left")
{
FLICK_LEFT();
}
else if (voice=="flick right"||voice=="32"||voice=="*flick right")
{
FLICK_RIGHT();
}
else if (voice=="leg6"||voice=="23"||voice=="*leg6")
{ servo8.write(30);
delay(250);
servo8.write(90);
}
else if (voice=="leg5"||voice=="24"||voice=="*leg5")
{ servo7.write(30);
delay(250);
servo7.write(90);
}
else if (voice=="leg4"||voice=="25"||voice=="*leg4")
{ servo6.write(30);
delay(250);
servo6.write(90);
}
else if (voice=="leg3"||voice=="28"||voice=="*leg3")
{ servo5.write(150);
delay(250);
servo5.write(90);
}
else if (voice=="leg2"||voice=="27"||voice=="*leg2")
{ servo4.write(150);
delay(250);
servo4.write(90);
}
else if (voice=="leg1"||voice=="26"||voice=="*leg1")
{ servo3.write(150);
delay(250);
servo3.write(90);
}
else if (voice=="upward"||voice=="33"||voice=="*upward")
{ UPWARD();
}
else if (voice=="downward"||voice=="34"||voice=="*downward")
{ DOWNWARD();
}
else if (voice=="dance"||voice=="35"||voice=="*dance")
{ servo8.write(30);
delay(250);
delay(250);
servo7.write(30);
delay(250);
delay(250);
servo6.write(30);
delay(250);
delay(250);
servo5.write(150);
delay(250);
delay(250);
servo4.write(150);
delay(250);
delay(250);
servo3.write(150);
delay(250);
delay(250);
}
voice="";//Reset the variable after initiating
}
}
MOBILE APPLICATION
AS SHOWN IN THE PICTURE THIS IS THE MOBILE APPLICATION SCREEN .THER IS A CONNECT BUTTON IN THE APPLICATION, WE HAVE TO CONNECT OUR MOBILE WITH ROBOT VIA BLUETOOTH .WE WE GET CONNECTED .AS WE CLICK TO ANY BUTTON IN THE SCREEN THE MOBILE SEND THE RESPECTIVE COMMAND AND ROBOT SHOWS MOVEMENTS. IF WE CLICK THE FORWARD BUTTON THE ROBOT GETS FORWARDS 1 STEPS ,THER'S BUTTON FORWARD , 2 FORWARD ,3 FORWARD ,4 FORWARD ,5 FORWARD THESE ALL BUTTON GIVES FORWARD COMMAND WITH N TIMESMOVEMENTS WHERE N IS THE NUMDER BEFOR FORWARD IN BUTTON .SIMILARLY BACKWARD HAS ALSO SAME PRINCIPLE.
THERE A INITIAL BUTTON WHEN WE CLICK ON IT ALL SERVOES GOES TO INITIAL DEFAULT POSITION 90 DEGREE AND ROBOT GETS STAND STILL .OTHER BUTTONS LIKE UP GIVE COMMAND TO ROBOT TO GET UP IN 4 LES AND DOWN BUTTON GIVES COMMAND TO LOWER THE BODY TO THE BASE .
SIMILARLY RIGHT AND LEFT BUTTON GIVES COMMAND FOR TO ROTATE RIGHT ANND LEFT RESPECTIVELY. ON THE RIGHT DOWN BUTTON 1,2,3,4,5,6, GIVES THE COMMAND TO ROBOT TO MOVE THE LES INDIVIDUALLY.
TO MAKE THIS ROBOT MOVEABLE WE CAN USE DIRECTLY 5VDC THROUGH OUR MOBILE PHONE CHARGER ADAPOTR OR WE CAN USE POWER BANK AS PORTABLE SOURE . I FELL LOTS OF FUN TO MAKE ROBOT AND TEST IT .ITS SIMPLE TO MAKE AND TEST IT .
THANK YOU IF YOU HAVE ANY FEEDBACK AND SUGGESTION ,PLEASE LEAVE IN A COMMENT ... I HOPE YOU ALSO TRY IT .