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176 lines
8.2 KiB
Markdown
176 lines
8.2 KiB
Markdown
# <img src="./imgs/hexapod-logo.svg" alt="logo" width="64"/> Hexapod
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A Hexapod Robot using Raspberry Pi Zero W
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<img src="./imgs/google_play.svg" alt="google_play" width="300"/>
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## Introduction
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This is a hexapod robot based on [Smallp Tsai](https://github.com/SmallpTsai)'s [hexapod-v2-7697](https://github.com/SmallpTsai/hexapod-v2-7697) project.
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This project reused most of the mechanical design in the original project, but with a full redesign of the circuits and software.
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The table below shows the difference between this project and the original one.
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| | Original hexapod-v2-7697 | This project |
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| --------------- | ------------------------ | ----------------------------------------------- |
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| Controller | Linkit 7697 | Raspberry Pi Zero W or Raspberry Pi Zero W 2 |
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| PWM control | Custom circuit board | 2 x PCA9685 motor driver boards |
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| DC-DC | 7 x mini360 modules | 2 x XL4005 5A Max DC-DC modules and 1 x mini360 |
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| Power | 2S Lipo battery | 2 x 18650 batteries |
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| Remote | BLE | WiFi |
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| Remote software | Android and iOS | PC, Android |
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https://user-images.githubusercontent.com/471808/148647807-02e3e901-6181-4473-8ac4-3b5998fa8d17.mp4
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## Mechanism
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### Bill of Materials (BOM)
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#### Servos
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18 TowerPro [MG92B](http://www.towerpro.com.tw/product/mg92b/) are required.
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> The dimension of 3d printed part is highly dependent on the servo's size. Modification is required if you want to use alternative servos.
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#### 3D-Printed Parts
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##### Body x 1
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| Filename | Thumbnail | Required |
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| -------------- | ----------------------------------------------------------------------- | -------- |
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| body_top | <img src="./imgs/body_top.jpg" alt="body_top" width="300"/> | 1 |
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| body_bottom | <img src="./imgs/body_bottom.jpg" alt="body_bottom" width="300"/> | 1 |
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| body_side_wall | <img src="./imgs/body_side_wall.jpg" alt="body_side_wall" width="300"/> | 2 |
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| body_back_wall | <img src="./imgs/body_back_wall.jpg" alt="body_back_wall" width="300"/> | 1 |
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| battery_box | <img src="./imgs/battery_box.jpg" alt="battery_box" width="300"/> | 1 |
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| battery_holder | <img src="./imgs/battery_holder.jpg" alt="battery_holder" width="300"/> | 2 |
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##### Leg x 6
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| Filename | Thumbnail | Required |
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| --------------- | ------------------------------------------------------------------------- | -------- |
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| thigh_top | <img src="./imgs/thigh_top.jpg" alt="thigh_top" width="300"/> | 1 (x6) |
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| thigh_bottom | <img src="./imgs/thigh_bottom.jpg" alt="thigh_bottom" width="300"/> | 1 (x6) |
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| joint_cross | <img src="./imgs/joint_cross.jpg" alt="joint_cross" width="300"/> | 1 (x6) |
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| joint_top | <img src="./imgs/joint_top.jpg" alt="joint_top" width="300"/> | 2 (x6) |
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| joint_bottom | <img src="./imgs/joint_bottom.jpg" alt="joint_bottom" width="300"/> | 2 (x6) |
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| leg_top | <img src="./imgs/leg_top.jpg" alt="leg_top" width="300"/> | 1 (x6) |
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| let_bottom | <img src="./imgs/leg_bottom.jpg" alt="leg_bottom" width="300"/> | 1 (x6) |
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| foot_top | <img src="./imgs/foot_top.jpg" alt="foot_top" width="300"/> | 1 (x6) |
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| foot_bottom | <img src="./imgs/foot_bottom.jpg" alt="foot_bottom" width="300"/> | 1 (x6) |
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| foot_ground | <img src="./imgs/foot_ground.jpg" alt="foot_ground" width="300"/> | 1 (x6) |
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| foot_tip | <img src="./imgs/foot_tip.jpg" alt="foot_tip" width="300"/> | 1 (x6) |
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| servo_horn_j1j2 | <img src="./imgs/servo_horn_j1j2.jpg" alt="servo_horn_j1j2" width="300"/> | 2 (x6) |
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| servo_horn_j3 | <img src="./imgs/servo_horn_j3.jpg" alt="servo_horn_j3" width="300"/> | 1 (x6) |
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#### Others
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| Name | Spec | Thumbnail | Required | Note |
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| --------- | ------- | ---------------------------- | -------- | ------------------------------------------------- |
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| Screw | M2 6mm |  | 54 | Servo Arm: 1 x 18<br>Joint: 4 x 6<br>Thigh: 2 x 6 |
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| Screw | M2 10mm |  | 24 | Thigh: 1 x 6<br>Pin lock: 1 x 18 |
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| Screw | M2 30mm |  | 36 | Servo: 2 x 18 |
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| Nuts | M2 |  | 36 | Servo: 2 x 18 |
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| Pin (304) | M4 6mm |  | 18 | Servo: 1 x 18 |
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### Leg Assemble
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#### Assembly video
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<a href='https://youtu.be/oaAE5fC09KQ'><img src='http://img.youtube.com/vi/oaAE5fC09KQ/mqdefault.jpg'/></a>
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#### Exploded view
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<img src="./imgs/mech_leg_exploded.jpg" alt="LegAssemble" width="500"/>
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#### Detailed steps
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- **Step 1** - Combine `thigh_top`, `MG92B` and `thigh_bottom`, use M2x30mm screw and nut to secure them together.
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<img src="./imgs/mech_leg_1.jpg" alt="LegAssemble1" width="500"/>
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- **Step 2** - Grab one `joint_cross`, `joint_top` and `joint_bottom` and combine them
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<img src="./imgs/mech_leg_2.jpg" alt="LegAssemble2" width="500"/>
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- **Step 3** - First put 2 x `MG92B`, `leg_top` and `leg_bottom` together with M2x30mm screw and nut. Then attach `joint_top` and `joint_bottom` altogether
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<img src="./imgs/mech_leg_3.jpg" alt="LegAssemble3" width="500"/>
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- **Step 4** - Grab `foot_top`, `foot_bottom` and `foot_ground` (and `foot_top`) and assemble them.
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<img src="./imgs/mech_leg_4.jpg" alt="LegAssemble4" width="500"/>
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- **Finish** - Great, you got 1 leg done, 5 more to go :)
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<img src="./imgs/mech_leg_5.jpg" alt="LegAssemble5" width="500"/>
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## Electronics
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### Bill of Materials (BOM)
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| Name | Thumbnail | Required |
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| -------------------------- | ---------------------------------------------------------------------- | -------- |
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| Raspberry Pi Zero W or W 2 | <img src="./imgs/zero2-close-up.webp" alt="raspberry pi" width="300"/> | 1 |
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| PCA9685 motor driver | <img src="./imgs/PCA9685.jpg" alt="PCA9685" width="300"/> | 2 |
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| XL4005 DC-DC step down | <img src="./imgs/XL4005.jpg" alt="XL4005" width="300"/> | 2 |
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| Mini 360 DC-DC step down | <img src="./imgs/mini360.jpg" alt="mini360" width="300"/> | 1 |
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| Toggle switch | <img src="./imgs/toggle_switch.jpg" alt="toggle_switch" width="300"/> | 1 |
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### Connection Diagram
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<img src="./imgs/diagram.svg" alt="diagram" width="800"/>
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## Software
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### Raspberry Pi
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#### Requirements
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Raspberry Pi is running [`Raspberry Pi OS`](https://www.raspberrypi.com/software/).
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- Enable `I2C` through `raspi-config`
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``` bash
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sudo raspi-config
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```
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- Install required packages
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``` bash
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sudo apt-get install python3-numpy python3-pip
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```
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- Install required Python modules
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``` bash
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pip3 install adafruit-circuitpython-servokit
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```
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> Tips: It is convenient to debug code on Raspberry Pi through VSCode's remote feature.
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#### Running
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The hexapod program, located under `./software/raspberry pi/`, is written in Python. Use the following command to start it manually.
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``` bash
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python3 hexapod.py
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```
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### PC
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PC program source files are located under `./software/pc/`. The compiled program can be downloaded under the [release](https://github.com/rookiepeng/hexapod/releases) page.
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<img src="./imgs/pc_interface.jpg" alt="pc_interface" width="400"/>
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- Find the correct IP address of the Raspberry Pi on the hexapod
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- Connect to the hexapod using the IP address
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- Use the buttons on the panel to control the hexapod
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### Android
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<img src="./imgs/screenshot_connect.png" alt="screenshot_connect" width="300"/>
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<img src="./imgs/screenshot_control.png" alt="screenshot_control" width="600"/>
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