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# CH3-R 3DoF Hexapod

Last modified by Eric Nantel on 2024/07/03 09:20
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Table of Contents

- Description
- Specifications
- User Guide

# Description

About the CH3-R Walking Robot The CH3-R robot's round body symmetry makes this a very unique hexapod walker. The three DOF (degree of freedom) leg design provides the flexibility required to walk in any direction! The robot uses 18 HS-475 / HS-485 servos for the legs. The combo kit includes everything you need to make a functional robot except batteries. This is one of our most sophisticated walking robot offerings. It's truly amazing to see in action. This stylish version of our research level robot is perfect for the robotics hobbyist. The Mechanics The robot is made from ultra-tough laser-cut Lexan structural components, custom injection molded components, and high-quality aluminum Servo Erector Set brackets. Controlling the Robot The combo kit comes with the SSC-32, Bot Board II, and BASIC Atom Pro 28. By offloading the servo pulse generation and sequence movement timing to the SSC-32 the BASIC Atom has plenty of power to do some really cool things. The PowerPod program allows the robot to walk with variable speed, in any direction (translation), or turn in place (rotation), or any combination of the two. The leg lift and ride height is adjustable as well as the gait walking speed. There are preset walking modes for tall grass, tile floor, low profile and normal operation. You can rotate the body in every axis. There are also preprogrammed poses and a sleep mode. All of these are accessible from the controller. We recommend the wireless PS2 controller (RC-01) to get the robot up and running quickly. There is also a serial control mode for controlling the robot via a serial connection. With the proper configuration the popular Phoenix code (written by Jeroen Janssen (Xan on the forum). Thanks, Jeroen!) may also be used. PowerPod is the FREE Windows program that completely automates the program creation for the Atom processor. You no longer have to be a computer scientist to play with this level of robotics. The control options are: autonomous, PS2 remote control, RC stick radio control, and TTL serial control from a PC, PDA, or any other microcontroller. Powering Options The robot is compatible with the following batteries and chargers. Chargers > NiCad & Ni-MH Universal Smart Charger (USC-02) Batteries > 6.0 Volt Ni-MH 2800mAh Battery Pack (BAT-05) Important! To keep costs down we are not providing printed Assembly Guides. They are provided online, so you will need to print them when you order the kits. By providing the Assembly Guides online we can provide more detailed and up to date information than the old hardcopy method allowed.

# Specifications

- Servo motion control = local closed loop
- Steering = omnidirectional
- Number of legs = 6
- Degrees of freedom per leg = 3
- Motion speed = 10"/S
- Height (body) = 2.00"
- Height (overall) = up to 7.50"
- Width (body) = 8.50"
- Width (overall) = 18.00"
- Weight (w/out batteries) = 3lb 13oz.
- Ground clearance = up to 5.31"

# User Guide

General

- Polycarbonate Information Page
- RC Servo Mid Position Tutorial
- RC Servo Mini-Guide
- RC Digital Servo End Stops (HFP-10)

CH3-R Information

- 3DoF Lexan C Leg Assembly Instructions
  - 3DoF Lexan C Leg Lights Assembly Instructions v1.0
- H3-R Body Assembly Instructions v5.0
- The Complete H3/H3-R Tutorial (BotBoarduino) v2.0
- CH3-R "The Wicked One" Mod

Additional Information

- The Complete H3/H3-R Tutorial (Bot Board II) v2.0
- The Complete H3/H3-R Tutorial (Mini-ABB) v1.0
- The Complete H3/H3-R Tutorial (Bot Board II) v1.0
- PowerPod Utility Software
- BASIC Atom Pro Programming Tutorial
- BASIC Micro Studio Programming Tutorial for BASIC Atom Pro

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Created by Eric Nantel on 2024/07/03 09:20

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