shark/hexapod
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Update README.md

Browse Source
This commit is contained in:
Zhengyu Peng 2021-12-31 17:00:54 -05:00 committed by GitHub
parent ecc201bcb4
commit 4cfc569145
1 changed files with 1 additions and 78 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

79
README.md
View File

@ -19,84 +19,7 @@ The table below shows the difference between this project and the original one.
| Remote | BLE | WiFi |
| Remote software | Android and iOS | PC, Android (WIP) |
## Mechanism
### Bill of Materials
#### Servo - MG92B
Servo is the key component. I use TowerPro [MG92B](http://www.towerpro.com.tw/product/mg92b/). It has metal gear (important!).
An hexapod requires 18 of them.
> The dimension of 3d printed part is highly depended on servo's dimension. Modification is required if you want to use other alternative servo.
#### 3D-Printed Parts
##### Body x 1
Filename | Thumbnail | Required |
-------- | --------- | -------- |
body_top | ![body_top](imgs/body_top.jpg) | 1 |
body_bottom | ![body_bottom](imgs/body_bottom.jpg) | 1 |
body_center | ![body_center](imgs/body_center.jpg) | 1 |
body_side_wall | ![body_side_wall](imgs/body_side_wall.jpg) | 2 |
body_back_wall | ![body_back_wall](imgs/body_back_wall.jpg) | 1 |
##### Leg x 6
Filename | Thumbnail | Required |
-------- | --------- | -------- |
thigh_top | ![thigh_top](imgs/thigh_top.jpg) | 1 (x6) |
thigh_bottom | ![thigh_bottom](imgs/thigh_bottom.jpg) | 1 (x6) |
joint_cross | ![joint_cross](imgs/joint_cross.jpg) | 1 (x6) |
joint_top | ![joint_top](imgs/joint_top.jpg) | 2 (x6) |
joint_bottom | ![joint_bottom](imgs/joint_bottom.jpg) | 2 (x6) |
leg_top | ![leg_top](imgs/leg_top.jpg) | 1 (x6) |
let_bottom | ![leg_bottom](imgs/leg_bottom.jpg) | 1 (x6) |
foot_top | ![foot_top](imgs/foot_top.jpg) | 1 (x6) |
foot_bottom | ![foot_bottom](imgs/foot_bottom.jpg) | 1 (x6) |
foot_ground | ![foot_ground](imgs/foot_ground.jpg) | 1 (x6) |
foot_tip | ![foot_tip](imgs/foot_tip.jpg) | 1 (x6) |
#### Others
Name | Spec | Thumbnail | Required | Note
---- | ---- | --------- | -------- | ----
Screw | M2 6mm | ![6mm](imgs/M2_6mm.JPG) | 54 | Servo Arm: 1 x 18<br>Joint: 4 x 6<br>Thigh: 2 x 6
Screw | M2 10mm | ![10mm](imgs/M2_10mm.JPG) | 24 | Thigh: 1 x 6<br>Pin lock: 1 x 18
Screw | M2 30mm | ![30mm](imgs/M2_30mm.JPG) | 36 | Servo: 2 x 18
Nuts | M2 | ![6mm](imgs/M2_nut.JPG) | 36 | Servo: 2 x 18
Pin (304) | M4 6mm | ![pin](imgs/pin_M4_6mm.JPG) | 18 | Servo: 1 x 18
### Leg Assemble
![LegAssemble](imgs/mech_leg_exploded.jpg)
Please check [Leg Assemble](LEG.md) for more detail instructions
Leg assembly instruction video https://youtu.be/oaAE5fC09KQ is also available.
<a href='https://youtu.be/oaAE5fC09KQ'><img src='http://img.youtube.com/vi/oaAE5fC09KQ/mqdefault.jpg'/></a>
> Note. Total 6 Legs are required.
## Skill requirement
If you want to make one hexapod by yourself. You should at least knows how to:
* Mechanism part
* Use `3D printer` to print a model.
* Able to adjust 3D model to fit your custom need.
* Electronics
* Make a `PCB` (suggest to use professional PCB services)
* Soldering `SMD` component (0805 and TSSOP28)
* How to use/charge/store `LIPO batteries`
* Software
* Use `Linkit 7697` (ie. upload and run any program)
* Use `LRemote` to communicate 7697 and your mobile phone
## Table of Content
## Instructions
1. [Mechanism](mechanism/) - How to build the body
1. [Electronics](electronics/) - Circuit explanation