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hexapod/README.md

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logo Hexapod

A Hexapod Robot using Raspberry Pi Zero W

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Introduction

This is a hexapod robot based on Smallp Tsai's hexapod-v2-7697 project. This project reused most of the mechanism design in the original project, but with a totally redesign on the circuits and softwares. The table below shows the difference between this project and the original one.

Original hexapod-v2-7697 This project
Controller Linkit 7697 Raspberry Pi Zero W or Raspberry Pi Zero W 2
PWM control Custom circuit board 2 x PCA9685 motor driver boards
DC-DC 7 x mini360 modules 2 x XL4005 5A Max DC-DC modules and 1 x mini360
Power 2S Lipo battery 2 x 18650 batteries
Remote BLE WiFi
Remote software Android and iOS PC, Android (WIP)

Mechanism

Body

Bill of Materials

Servo - MG92B

Servo is the key component. I use TowerPro 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.

TowerPro MG92B can be found on Ebay seller 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 Parts

Body x 1
Filename Thumbnail Required
body_top body_top 1
body_bottom body_bottom 1
body_center body_center 1
body_side_wall body_side_wall 2
body_back_wall body_back_wall 1
Leg x 6
Filename Thumbnail Required
thigh_top thigh_top 1 (x6)
thigh_bottom thigh_bottom 1 (x6)
joint_cross joint_cross 1 (x6)
joint_top joint_top 2 (x6)
joint_bottom joint_bottom 2 (x6)
leg_top leg_top 1 (x6)
let_bottom leg_bottom 1 (x6)
foot_top foot_top 1 (x6)
foot_bottom foot_bottom 1 (x6)
foot_ground foot_ground 1 (x6)
foot_tip foot_tip 1 (x6)

Others

Name Spec Thumbnail Required Note
Screw M2 6mm 6mm 54 Servo Arm: 1 x 18
Joint: 4 x 6
Thigh: 2 x 6
Screw M2 10mm 10mm 24 Thigh: 1 x 6
Pin lock: 1 x 18
Screw M2 30mm 30mm 36 Servo: 2 x 18
Nuts M2 6mm 36 Servo: 2 x 18
Pin (304) M4 6mm pin 18 Servo: 1 x 18

Leg Assemble

LegAssemble

Please check Leg Assemble for more detail instructions

Leg assembly instruction video https://youtu.be/oaAE5fC09KQ is also available.

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

  1. Mechanism - How to build the body
  2. Electronics - Circuit explanation
  3. Software - The software running on Linkit 7697