add stl part
Smallp Tsai
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# hexapod-v2-7697
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Hexapod v2 using Linkit 7697 (Still under construction)
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Hexapod v2 using Linkit 7697
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* [Mechanism](mechanism/)
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* [Electronics](electronics/)
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* [Software](software/)
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This is a Hexapod project.
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You can use any mobile phone (iOS or Android) to control the movement of hexapod (move foreward, backward, etc...).
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See demo video - https://youtu.be/NJ7DdDEcq3U to get the idea.
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<a href='https://youtu.be/NJ7DdDEcq3U'><img width=480 src='http://img.youtube.com/vi/NJ7DdDEcq3U/0.jpg'/></a>
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## Brief introduction
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* **Remote control** is done via `BLE` of `Linkit 7697`
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* It has 6 legs, each leg has 3 joint. So there are total `18` **Servo motors** (TowerPro `MG92B`)
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* Linkt 7697 dont have so many **PWM control**, so NXP `PCA9865` x 2 are used to control these servo motors
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* **Power** comes from a `2S Lipo battery (7.4v)`. Also 7 x `mini360 DC-DC` step down voltage regulator are used. One to provide `5V` to Linkit 7697, The other six to provide `6V` to each legs (1 mini360 serve 3 servo)
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* The **body** is 3D printed PLA. I use `Prusa i3 MK2S`, a really good 3D printer.
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* Everything (3D STL, PCB schematic, 7697 source code) are included in the project under **GPL license**, Happy making!
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## Skill requirement
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If you want to make one hexapod by yourself. You should at least knows how to:
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* Mechanism part
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* Use `3D printer` to print a model.
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* Able to adjust 3D model to fit your custom need.
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* Electronics
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* Make a `PCB` (suggest to use professional PCB services)
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* Soldering `SMD` component (0805 and TSSOP28)
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* How to use/charge/store `LIPO batteries`
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* Software
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* Use `Linkit 7697` (ie. upload and run any program)
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* Use `LRemote` to communicate 7697 and your mobile phone
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## Table of Content
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1. [Mechanism](mechanism/) - How to build the body
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1. [Electronics](electronics/) - Circuit explanition
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1. [Software](software/) - The software running on Linkit 7697
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@@ -1,6 +1,6 @@
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# Bill of Materials
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## Servo
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## Servo - MG92B
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Servo is the key component. I use TowerPro [MG92B](http://www.towerpro.com.tw/product/mg92b/). It has metal gear (important!).
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An hexapod requires 18 of them.
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@@ -11,7 +11,7 @@ An hexapod requires 18 of them.
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> TowerPro MG92B can be found on Ebay seller [servohorns959](https://www.ebay.com/usr/servohorns959), which is listed on TowerPro official website ([Link] (http://www.towerpro.com.tw/about-us-2/)). <br>I also got mime servo from him.
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## 3D-Printed
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## 3D-Printed Parts
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### Body x 1
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@@ -19,24 +19,25 @@ Filename | Thumbnail | Required |
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-------- | --------- | -------- |
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body_top |  | 1 |
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body_bottom |  | 1 |
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body_center | Under construction | 1 |
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body_side_wall | Under construction | 4? |
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body_center |  | 1 |
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body_side_wall |  | 2 |
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body_back_wall |  | 1 |
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### Leg x 6
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Filename | Thumbnail | Required |
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-------- | --------- | -------- |
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thigh_top |  | 1 x 6 |
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thigh_bottom |  | 1 x 6 |
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joint_cross |  | 1 x 6 |
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joint_top |  | 2 x 6 |
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joint_bottom |  | 2 x 6 |
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leg_top |  | 1 x 6 |
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let_bottom |  | 1 x 6 |
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foot_top |  | 1 x 6 |
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foot_bottom |  | 1 x 6 |
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foot_ground |  | 1 x 6 |
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thigh_top |  | 1 (x6) |
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thigh_bottom |  | 1 (x6) |
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joint_cross |  | 1 (x6) |
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joint_top |  | 2 (x6) |
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joint_bottom |  | 2 (x6) |
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leg_top |  | 1 (x6) |
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let_bottom |  | 1 (x6) |
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foot_top |  | 1 (x6) |
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foot_bottom |  | 1 (x6) |
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foot_ground |  | 1 (x6) |
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foot_tip |  | 1 (x6) |
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### Tools
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@@ -8,6 +8,8 @@
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## Leg Assemble
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TBD
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## Body Assemble
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## Body Assemble
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TBD
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After Width: | Height: | Size: 7.8 KiB |
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Before Width: | Height: | Size: 11 KiB After Width: | Height: | Size: 11 KiB |
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Before Width: | Height: | Size: 12 KiB After Width: | Height: | Size: 9.5 KiB |
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Before Width: | Height: | Size: 10 KiB After Width: | Height: | Size: 9.3 KiB |
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After Width: | Height: | Size: 8.8 KiB |
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Before Width: | Height: | Size: 9.6 KiB After Width: | Height: | Size: 8.0 KiB |
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Before Width: | Height: | Size: 9.2 KiB After Width: | Height: | Size: 8.3 KiB |
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Before Width: | Height: | Size: 12 KiB After Width: | Height: | Size: 9.5 KiB |
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After Width: | Height: | Size: 9.5 KiB |
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Before Width: | Height: | Size: 8.1 KiB After Width: | Height: | Size: 7.6 KiB |
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Before Width: | Height: | Size: 8.9 KiB After Width: | Height: | Size: 9.1 KiB |
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Before Width: | Height: | Size: 11 KiB After Width: | Height: | Size: 9.3 KiB |
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Before Width: | Height: | Size: 9.0 KiB After Width: | Height: | Size: 8.7 KiB |
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Before Width: | Height: | Size: 12 KiB After Width: | Height: | Size: 10 KiB |
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Before Width: | Height: | Size: 11 KiB After Width: | Height: | Size: 9.2 KiB |
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Before Width: | Height: | Size: 12 KiB After Width: | Height: | Size: 10 KiB |
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Before Width: | Height: | Size: 11 KiB After Width: | Height: | Size: 11 KiB |
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Before Width: | Height: | Size: 15 KiB After Width: | Height: | Size: 9.4 KiB |