FlexipodHardware

3D rendering and dimension of Flexipod

CAD model for the Flexipod

Flexipod stand on sand

Prerequisite

Software: Inventor and Cura(or some other slice software for 3D printing)
Filament: Cheetah flexible filament, Ninjatek PolyMax™ PC, Playmaker
Super glue: Gorilla Super Glue

Mechiancl parts

All the printed parts are printed by a FDM 3D printer(Troodon Core-XY printer, VIVEDINO) with a standard 0.4 mm nozzle at 0.2 mm layer height. For soft print, skins are only printed at mating surfaces, since the outer skins of the printed parts will greatly reduce the flexibility.

1. leg: print with 16% infill density(Gyroid pattern) and 80% flow using flexible TPU (Cheetah flexible filament, Ninjatek).

2. leg adaptor: rigid filament (PolyMax™ PC, Playmaker)

3. motor mount outer part: print with 20% infill density(Gyroid pattern) and 90% flow using flexible TPU (Cheetah flexible filament, Ninjatek).

4. bearing:

5. motor mount inner part: print with 20% infill density(Gyroid pattern) and 90% flow using flexible TPU (Cheetah flexible filament, Ninjatek).

6. motor shell: rigid filament (PolyMax™ PC, Playmaker)

7. body cover: print with 20% infill density(Gyroid pattern) and 90% flow using flexible TPU (Cheetah flexible filament, Ninjatek).

8. upper body: print with 20% infill density(Gyroid pattern) and 90% flow using flexible TPU (Cheetah flexible filament, Ninjatek).

9. lower body: print with 20% infill density(Gyroid pattern) and 90% flow using flexible TPU (Cheetah flexible filament, Ninjatek).

Electrical parts

electrical system of the Flexipod

1. Raspberry Pi 4B

2. 5V Voltage Regulator

3. 5S Battery

4. CAN Transceivez

5. Teensy 4.0

6. IMU

7. Voltage Sensor

8. ESC

9. Motor

10. Custom PCB