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HexCrawler Information

30063-M.jpgParallax and CrustCrawler have formed a partnership to provide a 6-legged and 4-legged robot with the highest quality and value in mind for the serious roboticist. This page covers the HexCrawler or you can visit the resource page for the QuadCrawler.

If you think these robots are amazing just by the photographs, just wait until you watch the videos to see the smooth and fluid movements of this beast.

The Latest Design
The length of the HexCrawler has increased from 13 inches to 19.56 inches to ensure maximum, physical leg clearance. This enhancement will allow the HexCrawler to walk with a maximum walking stride without the legs physically touching. The front support bracket has been modified to include sensor "wings" offset at 26.6 degrees. This is especially useful when adding sensors to the front support bracket since it allows the HexCrawler to have a wider sensory "field of view". No longer will you be limited to having just one sensor pointing straight in front of the hexapod.

Here is a listing of changes for all current kits:
  • Overall dimensions - 19.56" X 15.75" (49.68cm X 40.00cm) leg to leg
  • Prototyping Space - 282 sq. inches (1819.35 sq. cm) of total prototyping space is available on the body.
  • Weight - 4 lbs. (1.81 kg) with servos
  • Front support now has 2 additional sensor wings
  • Upper and lower decks are identical offering you several BOE-mounting options
  • Upper deck may accommodate SG5 Robotics Arm or up to (4) BOE carrier boards and (8) PSC controllers
  • All parts except the leg pieces are machined with a grained finish
Educate Yourself
We recommend reading this entire page thoroughly in addition to the Downloads and Resources included on the HexCrawler product page prior to purchasing the kit. The HexCrawler manual does not contain specific experiments like the Stamps in Class™ texts (i.e. What's a Microcontroller?, Robotics with the Boe-Bot) since it is designed purely for the avid roboticist and programmer. The Parallax robotics team and CrustCrawler are continually developing new source code and updating the manual for the HexCrawler, so visit the web site and Robotics Discussion Group for updates and detailed discussions.

HexCrawler Chassis
The HexCrawler robot is built on a CrustCrawler-designed high-quality aluminum chassis that provides a sleek platform for 12 servo motors and control system. Once you have seen the HexCrawler move in the video gallery, you will appreciate the excellent design in power and leg efficiency. Additionally, its large size and generous number of expansion slots can accommodate a considerable amount of additional electronics and hardware upgrades. The expandability, rugged design, and 6 lb. payload capacity make it a formidable hexapod robot. The standard HexCrawler Kit is a walking platform which lends itself to being customized by the customer. For detailed information read the key features below which cover everything from the Integrated pem nuts to the Pass Through Leg Design.

30063_dtl.gifThe BASIC Stamp® Microcontroller Control System
Combine the HexCrawler's hardware extensibility with the Parallax electronics listed below and you have yourself an unbeatable combination. The HexCrawler circuits are built on the Board of Education programming board. With a variety of accessories on our Robot Component Shop and Robot Accessories pages, the HexCrawler robot may be programmed to perform all sorts of neat movements. The detailed manual gets you started with a number of complete programs. Once you have mastered the supplied code, you can easily customize it using your own programming creativity.

Overview of Parts and Key Features
The HexCrawler Kit includes the chassis, 12 Hitec 322 Servos, HexCrawler Assembly and Programming Manual, BASIC Stamp Manual, Parallax CD-ROM, BASIC Stamp 2 module, Board of Education programming board, Parallax Servo Controller, resistors, 2 pushbuttons, 7 segment LED. Detailed information and specifications are outlined here:
  • Time Required to Build and Program:  6.0 hours - The HexCrawler's printed manual guides you through the assembly process step by step and includes sample source code programs to get you off the ground.
  • Chassis Dimensions and Material: Overall dimensions with complete legs are 19.56" X 15.75" (49.68cm X 40.00cm) leg to leg.  Super rigid yet light .063 Gauge 5052 aluminum with type II anodizing for weather and scratch resistance.
  • Integrated Pem Stud Pivot Points: Pem studs are super smooth, solid aluminum spacers that are pressed into the aluminum body of the HexCrawler with more than 300 pounds of pressure. These spacers are used as the servo pivot points for all of the HexCrawlers legs. The combination of these spacers and the solid design and aluminum components are what gives the Hexcrawler its rugged design and 7.5 pound payload capacity.
  • Integrated Pem Nuts: Pem nuts are used throughout the key support points (24 in total) of the HexCrawler. Pem nuts are nuts that are pressed into the aluminum sheeting with more than 200lbs. of pressure. Pem nuts lower the number of loose parts in the kit which makes it easier to construct. Pem nuts also allow the roboticist to have quick and easy access to the lower deck of the HexCrawler without removing major construction components.
  • Horizontally Centered Leg Design: -To ensure equal, physical, horizontal movement of all legs during the HexCrawler's walking cycle, the legs have been physically designed to align with the horizontal leg servos.
  • Pass Through Leg Design: - Having the ability to expand and add lots of additional electronics and sensors is a key component of robotic experimentation and development. The HexCrawler's pass through leg design allows you to route and secure electronics at any point on the legs of the HexCrawler without wire or electronic components being exposed or interfering with the operation of the robot.
  • Dual Deck Electronics Mount-Design: The HexCrawler has been designed so that you may mount the controlling electronics either on top of the upper deck or mounted inside on the top of the lower deck. Also, the front and rear support brackets are configured to swing open to allow easy access to the inside of the HexCrawler for battery and electronics installation or removal.
  •  Design and Manufacturing Process: The HexCrawler robot and accessories are designed using powerful 3-D imaging and design software which includes AutoDesk's 3-D Studio R4 and 3-D Studio Max. This kit and the aforementioned accessories are machined within within 1/100" tolerance values, using state of the art CNC drill and punch machines. All machined parts are then inspected, finished and prepared for the anodizing process. During the anodizing process, the machined parts are "bright dipped" to give them a bright sheen and then type II anodized to the specified color. Type II anodizing indicates the type of hard finish that is applied during the the anodizing process to prevent scratches and weathering to the finished product. Type II is one of the hardest non- military specification anodizing process that can be applied to a commercial product.
  • Power Supply: 9V Battery, and 6 cell battery pack (not included). Nickel Metal Hydride (Ni-MH) batteries are best suited for the HexCrawler. These batteries range from 1000 to 3000 series and are readily available at most hobby shops such as Tower Hobbies. For development purposes, Parallax and CrustCrawler use the 3000 series Ni-MH batteries. When properly tuned, the HexCrawler can walk up to an hour of continuous use before a recharge of a 3000 series Ni-MH battery.
  • Programming Specifications:  The HexCrawler program contains 3 fully adjustable walking gaits in just one program!  All programs are completely configurable through an easy to use interface or programmatically depending on your application. The code is considered RF ready, just substitute the switch with the RF package of your choice and you are now wireless!
        * forward & backward - slow / fast
        * turn in place - left & right
        * gradual turn - left & right
  • Expandability: Breadboard or through-hole will connect easily to the AppMod header. Expandability is possible with the following add-ons (not included): PING))) Ultrasonic Distance Sensor, Hitachi Compass Module, and RF Modules. The HexCrawler is also compatible with the Hi-Tec HS-475HB (61 oz.in) and the HS-645MG (107 oz.in). These servos are identical in size to the current HS-322HD's that are shipped with the robot kit.
  • Customization: 198 square inches of total prototyping space is available on the HexCrawler body.
  • Leg Movement: 2 degrees of freedom (vertical and horizontal) with standard kit.
  • Object Detection: Purchase additional accessories and connect them to the HexCrawler. Sold Separately. Check out our Robot Component Shop.
  • Height: 6" standing, 4.86" squatting
  • Ground Clearance: 3.5"
  • Weight: Kit is 4.0 lbs with servos
  • Payload Capacity: 7.5 pounds
  • Assembly Tools (not included):  Angled cutters, small Phillips screwdriver, and 1/4” wrench
Ordering: Place your order with Parallax or an authorized Parallax Distributor.
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