diff --git a/README.md b/README.md index 7410fd6..2f4331a 100644 --- a/README.md +++ b/README.md @@ -1,9 +1,42 @@ # hexapod-v2-7697 -Hexapod v2 using Linkit 7697 (Still under construction) +Hexapod v2 using Linkit 7697 -![Hexapod](files/hexapod.jpg) -* [Mechanism](mechanism/) -* [Electronics](electronics/) -* [Software](software/) +This is a Hexapod project. + +You can use any mobile phone (iOS or Android) to control the movement of hexapod (move foreward, backward, etc...). + +See demo video - https://youtu.be/NJ7DdDEcq3U to get the idea. + + +## Brief introduction + +* **Remote control** is done via `BLE` of `Linkit 7697` +* It has 6 legs, each leg has 3 joint. So there are total `18` **Servo motors** (TowerPro `MG92B`) +* Linkt 7697 dont have so many **PWM control**, so NXP `PCA9865` x 2 are used to control these servo motors +* **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) +* The **body** is 3D printed PLA. I use `Prusa i3 MK2S`, a really good 3D printer. +* Everything (3D STL, PCB schematic, 7697 source code) are included in the project under **GPL license**, Happy making! + +## 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 + +1. [Mechanism](mechanism/) - How to build the body +1. [Electronics](electronics/) - Circuit explanition +1. [Software](software/) - The software running on Linkit 7697 + diff --git a/mechanism/BOM.md b/mechanism/BOM.md index 00fbb5a..74ced40 100644 --- a/mechanism/BOM.md +++ b/mechanism/BOM.md @@ -1,6 +1,6 @@ # Bill of Materials -## Servo +## 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. @@ -11,7 +11,7 @@ An hexapod requires 18 of them. > 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/)).
I also got mime servo from him. -## 3D-Printed +## 3D-Printed Parts ### Body x 1 @@ -19,24 +19,25 @@ Filename | Thumbnail | Required | -------- | --------- | -------- | body_top | ![body_top](files/body_top.jpg) | 1 | body_bottom | ![body_bottom](files/body_bottom.jpg) | 1 | -body_center | Under construction | 1 | -body_side_wall | Under construction | 4? | +body_center | ![body_center](files/body_center.jpg) | 1 | +body_side_wall | ![body_side_wall](files/body_side_wall.jpg) | 2 | body_back_wall | ![body_back_wall](files/body_back_wall.jpg) | 1 | ### Leg x 6 Filename | Thumbnail | Required | -------- | --------- | -------- | -thigh_top | ![thigh_top](files/thigh_top.jpg) | 1 x 6 | -thigh_bottom | ![thigh_bottom](files/thigh_bottom.jpg) | 1 x 6 | -joint_cross | ![joint_cross](files/joint_cross.jpg) | 1 x 6 | -joint_top | ![joint_top](files/joint_top.jpg) | 2 x 6 | -joint_bottom | ![joint_bottom](files/joint_bottom.jpg) | 2 x 6 | -leg_top | ![leg_top](files/leg_top.jpg) | 1 x 6 | -let_bottom | ![leg_bottom](files/leg_bottom.jpg) | 1 x 6 | -foot_top | ![foot_top](files/foot_top.jpg) | 1 x 6 | -foot_bottom | ![foot_bottom](files/foot_bottom.jpg) | 1 x 6 | -foot_ground | ![foot_ground](files/foot_ground.jpg) | 1 x 6 | +thigh_top | ![thigh_top](files/thigh_top.jpg) | 1 (x6) | +thigh_bottom | ![thigh_bottom](files/thigh_bottom.jpg) | 1 (x6) | +joint_cross | ![joint_cross](files/joint_cross.jpg) | 1 (x6) | +joint_top | ![joint_top](files/joint_top.jpg) | 2 (x6) | +joint_bottom | ![joint_bottom](files/joint_bottom.jpg) | 2 (x6) | +leg_top | ![leg_top](files/leg_top.jpg) | 1 (x6) | +let_bottom | ![leg_bottom](files/leg_bottom.jpg) | 1 (x6) | +foot_top | ![foot_top](files/foot_top.jpg) | 1 (x6) | +foot_bottom | ![foot_bottom](files/foot_bottom.jpg) | 1 (x6) | +foot_ground | ![foot_ground](files/foot_ground.jpg) | 1 (x6) | +foot_tip | ![foot_tip](files/foot_tip.jpg) | 1 (x6) | ### Tools diff --git a/mechanism/README.md b/mechanism/README.md index e698579..7c0407a 100644 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