add stl part

master
Smallp Tsai 6 years ago
parent cb303c49c4
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# 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.
<a href='https://youtu.be/NJ7DdDEcq3U'><img width=480 src='http://img.youtube.com/vi/NJ7DdDEcq3U/0.jpg'/></a>
## 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

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# 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/)). <br>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

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## Leg Assemble
TBD
## Body Assemble
TBD

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