I've gotten some questions about my hexapod machine, so I thought I'd post some details here. I haven't done my first cuts with the machine yet, as I discovered that my original configuration was too flexible and had to go back and make some changes. I changed the legs to be much stronger and added thicker braces to the corners where the actuators attach. I also have threaded rod with turnbuckles to keep the whole frame under tension.
I've attached a couple photos to give you an idea of what the machine's like.
More details on the software:
http://robofac.sourceforge.net/