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# MAH3-R 3DoF Hexapod

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

- Description
- Specification
- User Guide

# Description

About the MAH3-R Walking Robot The MAH3-R is the largest of the AH3 series. The 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-755 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 and largest walking robot offerings. It's truly amazing to see in action. This research level robot is perfect for college robotics labs. The Mechanics The robot is made from ultra-tough high-quality aluminum Servo Erector Set brackets. The robot is 26" across when standing, compared to the AH3's 18.5" stading. Controlling the Robot The combo kit comes with the SSC-32, and either the Bot Board with Basic Atom Pro or the BotBoarduino. There is no separate wiring for a PS2 controller (sold separately) since RC01-v2 now includes all necessary wiring in order to control the robot using a PS2 controller. By offloading the servo pulse generation and sequence movement timing to the SSC-32, the main board has plenty of power to do some really cool things. The basic PS2 code allows you to control the robot using a wireless (or wired) PS2 remote control (sold separately). We recommend the (RC-01 v2) wireless PS2 controller to get the robot up and running quickly. With the proper configuration, the popular Phoenix code (written by Jeroen Janssen (Xan on the forum). Thanks, Jeroen!) may also be used to help you get started. The normal 755HB servos can be used indoors on relatively level surfaces, though if you plan to take the robot over uneven terrain, or are worried about damage to the servos, we suggestthe 755MG upgrade. Powering Options The robot needs 2x 4.8V to 6V batteries and one 9V battery. It is compatible with the following batteries and chargers. The 755 servos work best at ~5V and voltages above 6.5V may cause shaking when used with the SSC-32. Should you experience servo tremble, try lowering the supply voltage. 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.

# Specification

- Servo motion control = local closed loop
- Steering = omnidirectional
- Number of legs = 6
- Degrees of freedom per leg = 3
- Motion speed = testing (>10" /s)
- Height (body) = 2.50"
- Height (overall) = up to 9" (legs extended)
- Width (body) = ~12"
- Width (overall) = ~26.5"
- Weight (w/out batteries) = 7.22 lbs
- Ground clearance = up to 7"

# User Guide

General

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

MAH3-R Information

- 3DoF MEGA Leg Assembly Instructions v1.0
  - Hexapod Foot Sensor Assembly Guide
- MHBKR Body Assembly Instructions v1.0
- The Complete H3/H3-R Tutorial (BotBoarduino) v2.0

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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