DEVLOG 02- First Leg

Am gonna Compress Devlog 02 and 03 cause i made alot of progress and each of them deserve separate sections of Dev log hence here DEVLOGS 02-03 will be written,

I built my First complete 3DOF Hexapod leg in FreeCAD with 3 servos, coxa, femur, tibia, tip and the smaller parts.

My first coxa joint went wrong HORRIBLY, so the servo model rotated instead of the part which was connected the servo head, Then I troubleshooted for a bit trying not to loose my mind in the “PROCESS”

Then I fixed my Joint refrences and got the movement working.

I also learnt how to use fixed/revolute joints and work with STL parts,

After wayy to much clicking the First Leg was done.

DEVLOG 03- Six legs, finally
After getting the first CHICA leg working, the next goal was to finish the full six-leg assembly and get it moving in FreeCAD.

I saved the completed leg as a subassembly so i didnt have to build the same thing six times, lol.

I inserted the leg into the main assesmbly and repeated it until all 6 legs were there

THE MOST SATISFYING PART: Simulation

At first, The joints were moving so cursed like i was hikey crashing out sfm, The main problem was the rotation formulation in the revolutes of the joints i selected.

After testing the formulas and adjusting the joint motion, I finally got the legs moving in a controlled way.

What I learnt:

• Subassemblies save A LOT of time

Finally, i have a complete 18-dof CHICA Assembly moving in FreeCAD.