Pictures

Hex and QuadRod
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HexRod
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HexRod and S2
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HexRod and S3
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Battery
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Perspective
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HexRod HD (Heavy Duty 2DOF hexapod robot)

HexRod
“I love this robot and can hardly wait to get started programming. As for the quality of the components, I'm quite pleased."
Jim S
Anodized: Blue/Black
Discontinued

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Getting Started


Videos

Walking Video 1 (1.5M wmv)
Walking Video 2 (2M wmv)

Open Source PSC Software

cpsci
Create, save, and share, timed sequences with this FREE open source software solution from CrustCrawler Robotics. Easily migrate complex motion files to PBASIC without ever writing a line of code!

HexRod HD Robotic Kits

Kit Power Packs Include Price
HexRod HD Full Kit
(hexr-fk06)
HexRod
HexRod HD Full Kit (USB interface)
  • CrustCrawler HexRod Hardware Kit
  • 5052 brushed aluminum body kit
  • Fully Illustrated Construction Guide
  • Parallax Board of Education
  • Parallax BS2 STAMP Microcontroller
  • Parallax Servo Controller
  • Parallax 4 button LCD AppMod
  • (12) Hitec HS-422 Servos
  • (4) servo wire extension packs
  • S2 Sensor Stand
$465.95

Discontinued
HexRod HD Basic Kit
(hexr-bk06)
HexRod
HexRod HDBasic Kit
  • CrustCrawler HexRod Hardware Kit
  • 5052 brushed aluminum body kit
  • Fully Illustrated Construction Guide
  • (12) Hitec HS-422 Servos
  • (4) servo wire extension packs
$299.00


Discontinued
HexRod HD Hardware Kit
(hexr-hk06)
HexRod
HexRod HD Hardware Kit
  • CrustCrawler HexRod Hardware Kit
  • 5052 brushed aluminum body kit
  • (4) servo wire extension packs
  • Fully Illustrated Construction Guide
$149.00


Discontinued

Project Code

Check Tune HexRod legs Use this program to fine tune your crawler legs.
HexRod base is a fully adjustable application. This program contains the basic walking mechanics for the HexRod. You can use this program to create your own walking gaits!
HexRod PING))) uses the Parallax PING ultra sonic sensor to avoid objects.
HexRod RC shows how to easily connect a standard radio controller system to your HexRod.
HexRod LCD uses a Parallax LCD AppMod to dynamically assign gait parameters from a graphical interface. Select 8 different directions setting, 16 speeds setting, and have full control over horizontal leg swing.
HexRod Ping/S3 is a very cool obstacle avoidance application. We mounted a Parallax PING ultra sonic sensor to a CrustCrawler S3 tilt pan system. If the robot detects an obstacle, it will pan left and right to find a clear path.
HexRod Ping/S3 LCD this a combination of the HexRod LCD and HexRod Ping/S3 applications above. Use the LCD Appmod to select gait parameters. Press enter and the HexRod walks autonomously.
HexRod Ping/S3 RC uses the S3/PING obstacle avoidance but also provides an RC override. If a signal from a RC receiver is detected, the radio control will take over control.
HexRod Ping/S3 LCD RC Total Package. Use the LCD AppMod to assign leg swing. Flip on your RC system to gain control of the robot. No RC signal no problem the S3/PING takes over autonomous control. The LCD displays information like distance and current control mode, LCD or PING.

Utility PBasic Code

Test the LCD Terminal AppMod full kit electronics
Create custom graphics for the LCD AppMod with this MS Excel workbook.
PING))) ultra sonic sensor demo
RC Test Verify RC unit Rx/Tx to STAMP connections
PSC Channel Tester use this program to test PSC channels

Technical Specifications

Material Super strong .063 Gauge 5052 aluminum with type II anodizing for weather and scratch resistance Dimensions 16" Long X 13" Wide (40.64cm X 33.00cm) leg to leg
Prototyping Space

84 square inches (542 sq. cm) of total prototyping space is available on the HexRod body.

Height Standing 6.25" (15.88cm)
Ground Clearance 2.75" (7cm) Leg movement 2 degrees of freedom (vertical and horizontal)
Payload Capacity 7.5 lbs. (3.4 kg) Weight 3.45 pounds with servos and eletronics(1.56 kg)
HS-422 Servos
Cored Metal Brush Motor
Top/Resin Bushing Bearing
Stall Torque at 4.8V 45.82 oz/in. (3.3kg.cm)
Stall Torque at 6.0V 56.93 oz/in. (4.1kg.cm)
Speed at 4.8V 0.21sec/60 degrees at no load
Speed at 6.0V 0.16sec/60 degrees at no load
Current Drain (4.8V) 8mA/idle and 150mA no load operating
Current Drain (6.0V) 8.8mA/idle and 180mA no load operating
Dimensions 1.59" x 0.77"x 1.44" (40.6 x 19.8 x 36.6mm)
Weight 1.6oz (45.5g)
Electronics Parallax Board of education (BOE)
Basic Stamp 2 (BS2)
Parallax Servo Controller (PSC)
Accessories
S3 tilt / pan system
S2 sensor stand
Infrared distance detection kit
5V Regulator Kit
3300 NiMh battery
Battery charger
BOE power supply
Servo power supply
See all accessories

LCD AppMod with 4 push buttons

Your wait is over!

Introducing CrustCrawlers newest line of 6 legged and 4 legged walking robot kits, theC Channel with Battery HexRod HD hexapod and QuadRod HD quadruped. Both robot kits employ a solid "C" channel center chassis design for incredible strength and rigidity. Unlike other kits that use thin tubes, Crustcrawler's "C" channel design can accomodate full size batteries and allow you to route all of your electronic and servo wires neatly and cleanly inside the channel. Need to add assesories? Simply "bolt on" any number of hardware assessories such as the S2 sensor stand or the S3 tilt pan system to the generous number of integrated expansion slots and pem nuts found on the "C" channel. With a standard payload capacity exceeding 6 pounds, the HexRod and QuadRod defines heavy duty!

S2 on a HexRodThe key to all of this strength lies in the HexRod and QuadRods efficient and flexible leg design. Some kits on the market employ inferior "servo bracket" designs which have servos bolted directly to a servos spindle. This poor design leads to hot running S3 on a HexRod servos, high power consumption and very limited payload capacities because the servos have to constantly fight the entire weight of the robot . With CrustCrawlers efficiently engineered fulcrum point design, the entire weight of the robot including all assessories sit on the servos spindle (or drive shaft) when the legs are fully extended. The result is ultra low power consumption, cool running servos and the ability to carry 6+ pound payload capacities without sacrificing leg clearance or speed.

HexRod and QuadRod kits are engineered for growth!

Ultra strong "C" channel center chassis design
Integrated "pem nuts" which makes adding hardware and electronics a breeze
Accepts any standard size servo
Fully adjustable (vertically and horizontally) circuit board holders
Legs can accomodate (2) different walking hardware configurations
(2) integrated fulcrum points for heavy payload capacities
6+ pound payload capacity (4lbs. for the QuadRod and 6+ pounds for the HexRod)
Leg angles can adjust to a fixed 45 to 135 degrees
Super tough, brilliant blue, type II anodyzed finish
Adjustable fulcrum point leg design for superior power efficiency and heavy payload capacities

Accessories

S2
$12.98
S2 Sensor Stand
•  Fully adjustable 90 degrees forward or backward from a centered position
•  Integrated pem nuts
•  Rugged all aluminum construction
•  Available in singles or 4-packs
Kit Contents
(1) Sensor Stand
(1) Mounting Plate
(2) #4 Lock Nuts
(2) 1/4" # 4 screws
(4) 5/16” #4 screws

S3
$99.00
S3 Tilt Pan System
•  All aluminum construction
•  Tilt and pan 180°
Variable speed
•  Mounts easily to any project
•  Pre-written BS2 code
•  More...
Kit Contents
(1) sensor bracket
(1) tilt bracket
(1) base circle
(1) base
(2) Hitec HS-322 HD servos
(2) 18” servo wire extensions

$159.00

6 Channel FM Radio Control System
The all new Laser 6 radio systems are packed with features. With an ergonomically designed case the Laser 6 is an excellent choice for a feature packed economical 6 channel radio system for robot control.

Kit includes:
6-Channel Radio
Duel conversion RCD 3500 Receiver
(2) Hitec 322HD Servos
Nicd Battery (transmitter)
117V charger

Features:
6 Channel 75 mHz FM Transmitter
All Channel Servo reverse
Channel 1 and Channel 2 Dual rates
ATV's Channels 1 and 2
EPA on Channel 3
Channel 1 and 2 mixing function
Channels 2 and 4 mixing function
Trainer Capable

$26.95

Servo Power Supply
This transformer is highly recommended for supplying continuous servo power (6Vdc 4A) without the worry of constantly re-charging a battery pack. It comes with a male adaptor plug which can be mounted to your project making power connections easy. Just plug it in!

The Servo Power Supply is included with the following SG5-UT Full Kit, SG6-UT Full Kit, Nomad HDATS Full Kit, and HexCrawler HDATS Full Kit.

Contents
(1) 24W, 2 prong, 6V, 4A Transformer
(1) Male power adaptor plug

$8.95
BOE Power Supply
This 9v 500ma supply transformer is highly recommended for continuous use of the BOE/Basic Stamp combination without the worry of constantly re-charging a battery pack.

$54.99
2400 NiCD battery
2x3 2400mah NiCD battery pack (7.2V)
 

$29.99
PING)))™ Ultrasonic Sensor
•  Range - 2cm to 3.35m (~.8" to 11.3')
•  Supply Voltage: 5V +/-10% (Absolute: Minimum 4.5V, Maximum 6V)
•  Supply Current: 30 mA typ; 35 mA max
•  3-pin interface (power, ground, signal)
•  20 mA power consumption
•  Narrow acceptance angle
•  Size - 22 mm H x 46 mm W x 16 mm D (0.85 in x 1.8 in x 0.6 in)
•  Simple pulse in / pulse out communication
•  Indicator LED shows measurement in progress
•  Input Trigger - positive TTL pulse, 2 uS min, 5 uS typ.
•  Echo Pulse - positive TTL pulse, 115 uS to 18.5 mS
•  Echo Hold-off - 350 uS from fall of Trigger pulse
•  Burst Frequency - 40 kHz for 200 uS

LCD AppMod

$14.99

The module has a 2x8 display, four pushbuttons, and will connect to any programming board that has a 2x10 AppMod Header. The display uses a 4-bit parallel interface (Hitachi HD44780 compatible) to interface to the microcontroller and includes a contrast knob for display adjustment. This low-cost display is excellent for your smaller projects.

  • 2x8 LCD Display
  • 4 Buttons
  • Parallax AppMod Header Connection
  • Power Requirements: 5 V @ 15 mA (quiescent current)
  • Communication: 4-Bit parallel interface (Hitachi HD44780 compatible)
  • Dimensions: 2.4 x 2 x 0.8 in (60 x 50 x 20 mm)
  • Operating Temperature: 32 to 158 °F (0 to 70 °C)